EP4309194A1

EP4309194A1 - Cable processing comprising infeed and outfeed

Info

Publication number: EP4309194A1
Application number: EP22708238.5A
Authority: EP
Inventors: Michael ZBINDEN; Willi Blickenstorfer; Andreas VON NIEDERHÄUSERN; Wolfgang Fischer; Thomas ZBINDEN; Simon Berger
Original assignee: Schleuniger AG
Current assignee: Schleuniger AG
Priority date: 2021-03-17
Filing date: 2022-03-04
Publication date: 2024-01-24
Also published as: WO2022195395A1; US20240308011A1; MX2023010952A; JP2024519651A

Abstract

The invention relates to a cable-processing system comprising a cable-processing machine, especially for automatically processing cable ends of heavy, relatively flexurally rigid cables, but preferably also of light, thin cables, as well as long or short cables, preferably in the same cable-processing machine. This cable-processing machine has: an input side for receiving the cables; a plurality of cable-processing stations; a cable transport device for transporting at least one cable with at least one movable gripper; and an output side for discharging a processed cable. According to the invention, the cable transport device is equipped with a cable conveying device which is designed as a multiple-store device and has a plurality of cable holders, and wherein the multiple-store device is designed as an autonomous or guided transporter. At least one of the grippers is designed as a transfer gripper in order to remove one of the cables after the other from the cable holder and to feed it to at least one of the cable-processing stations and/or to at least one further gripper acting as a transfer gripper, which further gripper is designed such that it can be moved using a frame-supported transfer mechanism in order to transfer the cable to one of the cable-processing stations.

Description

Cable processing with infeed and outfeed

The invention relates to a cable processing system according to the preamble of claim 1, which includes a cable processing machine with a machine control for the automatic processing of cable ends of heavy, relatively rigid cables on a frame. Likewise, an associated method for the automatic processing of cable ends of heavy, rigid cables according to claim 21 or a feed system for such cables according to claim 42. Specifically, it is a cable processing system in which pre-lengthened cable pieces or cable products of a defined length are processed, preferably on a or two cable ends, i.e. not a system that only works from the roll - i.e. almost endlessly - but a cable processing system for processing previously lengthened cables or cable pieces, which are fed in the form of piece goods.

In cable processing machines, the cables are often fed to the machine or to one or more cable processing stations manually. This is particularly true when cable ends of heavy, relatively rigid cables have to be processed, which often behave in an undefined and stubborn way when they are to be moved, bent or twisted. Specially stiff or rigid, inflexible or inflexible cables, which can only be bent or twisted with effort and mostly elastically. For example, cables with cross-sections from 2.5mm ² to 150mm ² , coaxial cables or cables with a total diameter >lcm, multi-conductor cables 2.5mm ² to 6mm ² , minimum bending radius equal to or greater than 17 to 270mm, with shielding, with a thick inner conductor or with a large number of individual conductors, and/or with specially resistant sheaths, for example for power cables in motor vehicles, etc. Human Workers can usually deal with such cables intuitively or from experience, whereas automated or robotic systems repeatedly fail at such tasks, at least sporadically, which can lead to machine downtime or missing parts. Such dog feeding and/or feeding is not only tedious and expensive, but also error-prone, because with faster, imprecise or sloppy manual feeding, the machine cannot process the cables with precision and reproducibility. This also requires the permanent presence of at least one worker on one of the machines while it is in operation.

For short and thin cables, US Pat. No. 5,125,154 or US Pat. No. 5,152,395 shows a machine in which a whole box containing cables individually suspended on transport units moves through a machine during processing. DE 10 201 611 645 also works with special cable boxes for each of the cables that are fed in as such.

In EP 2 565 992, freely hanging cable ends are guided around a rotary indexing table.

In cable processing machines, the cables are often fed to the machine or to one or more cable processing stations manually. This is particularly true when processing cable ends of heavy, relatively rigid cables that often behave undefined and unruly when moved, bent or twisted. Stiff or rigid, inflexible or inflexible cables, which can only be bent or twisted with the application of force and mostly elastically, are particularly affected. For example cables with cross-sections from 2.5mm ² to 150mm ² , coaxial cables or cables with a total diameter >lcm, multi-conductor cables 2.5mm ² to 6mm ² , minimum bending radius the same or greater than 17 to 270mm, with shielding, with a thick inner conductor or with a large number of individual conductors, and/or with specially resistant sheaths, for example for power cables in motor vehicles, etc. Human workers can usually handle such cables intuitively or from experience, whereas Automated or robotic systems repeatedly fail at least sporadically in such tasks, which can lead to the machine stopping or to missing parts. Such dog feeding and/or feeding is not only tedious and expensive, but also error-prone, because with faster, imprecise or sloppy manual feeding, the machine cannot process the cables with precision and reproducibility. This also requires the permanent presence of at least one worker on one of the machines while it is in operation. Apart from the fact that this would not be feasible with heavy, thick and rigid cables, such cable processing systems are in need of improvement in terms of efficiency, accuracy and reliability in cable finishing. Another disadvantage of these known solutions is, for example, that such rigid or stiff cables cannot be handled in the same way as conventional standard cables.

An object of the present invention is therefore to provide a cable processing system which does not have the aforementioned disadvantages and, in particular, provides fast and reliable cable processing, which preferably also does not depend on the permanent presence and skill of a worker. The processes of cable processing should also be better integrated into a higher-level, automated, electronic production or factory management system, i.e. be geared towards Industry 4.0, for example.

The object is solved by the features of the independent claim. Advantageous developments are presented in the figures and in the dependent patent claims.

According to the invention, a cable processing system is provided. This system includes a cable processing machine with a machine control for the automatic processing of cable ends of heavy, relatively rigid, pre-cut cables on a frame. The system according to the invention is specially designed to be fed with cables in the form of pre-cut cable pieces on which at least one, preferably both cable ends are processed. The cables can be present specifically as essentially straight pieces of a defined cable length, or in the case of longer cables also as cable coils with a predefined cable length, which coils are also transported and the ends of which are kept at least approximately straight. The cable end does not just mean the blunt end of a cut surface of the cable, but a cable end area, e.g. an area at the end of the cable, in particular of e.g. 5cm or 10cm or up to about 30cm.

The machine has an input side for receiving the cables to be processed and an output side for delivering the processed cables. Between the input side and the output side there is a processing of the cable, preferably - but not mandatory - a processing of the cable ends, for example with a stripping, twisting, bending, crimping, assembly, assembly, etc. with at least one, preferably with at least two or more frame-supported cable processing stations. the The cable processing machine is designed on a frame, which means that the cable processing stations are combined as a unit in one machine and are not scattered around a factory building. For example, the cable processing stations can be connected to one another and/or by means of a frame construction to form a machine and can preferably also be combined under a common housing.

The cable processing system according to the invention also has a cable transport device for transporting at least one cable. In the cable processing machine, this cable transport device has at least one movable gripper for the cable, which gripper is also frame-supported. Such a gripper is designed on the one hand with a sub-area designed as a gripping system for releasably holding a cable or cable end, for example with a type of pincer gripper with movable jaws or another device for releasable positive and/or non-positive clamping of a cable, a vacuum holder or an adhesive , magnetic or gravitational, detachable holding device - with or without a corresponding sensor system for determining whether and/or how currently a cable is being held. The gripper is designed to be movable, which means that it is designed to move the cable in relation to a machine base, ie for example the frame, the cable processing stations and/or the input or output side. The transport system and/or the moveable gripper therefore has at least one rotary or linear movement axis.

According to the invention, the cable transport device is equipped with a cable transport device designed as a multiple storage device, which has several cable holders for one of the cables or has at least one cable end of the cable. This is specially designed as an actively conveying cable conveying device to actively convey several of the cables, ie to move the cables with an active mechanism in order to move the cables contained in the multiple store within the multiple store and in relation to it. For example, a cable conveyor device in the form of a conveyor belt, a walking beam conveyor, a chain conveyor for preferably separable chains with quick-release fasteners in the segments, etc. - specifically as described and/or outlined in more detail below.

The cable holders can be designed, for example, as clamps, supports, compartments or separators (pairs) for one of the cables or one of the cable ends, which are moved with the cable conveyor device in the multiple store, specifically as described below by way of example. Two cable holders spaced apart from one another are preferably used for a cable, preferably with one of them designed as a clamp and the other as a support. A clamp is, for example, an element that clamps the cable in a partial area of its circumference between two elastic, essentially parallel parts that partially enclose the cable with a force. A support can be designed, for example, as a recessed shape in which the cable comes to rest due to gravity, and preferably hold the cable laterally in a defined position area by lateral separating webs without clamping the cable with a force between the separating webs.

According to the invention, at least one of the grippers is designed as a transfer gripper. This is specially designed to remove one cable after the other from the respective cable holder and attach it pass on another gripper as a transfer gripper and/or to one of the cable processing stations. Such a transfer gripper and/or transfer/handover gripper is designed to be movable with a frame-supported transfer mechanism in order to carry out a transfer of the cable from one of the cable processing stations to another of the cable processing stations. The at least one transfer gripper is also moved by a transfer mechanism.

The transfer gripper preferably has two pairs of gripper jaws for gripping a first and a second conductor of the cable. This means that a cable with more than one conductor can be picked up and transported in a stable manner.

In particular, the pairs of gripper jaws are arranged on a gripper transfer guide and can be moved along the gripper transfer guide, so that their distance from one another can be adjusted. The distance between the pairs of gripper jaws can be set individually and reproducibly, depending on the cable type and the distance between the two conductors of the cable.

In particular, the transfer gripper has two pairs of gripper jaws for gripping the ladder. The transfer gripper can simply transfer the cable removed from the cable storage to the transfer gripper, which feeds it to at least one, preferably at least two or more cable processing stations for processing. The pair of gripper jaws of the transfer gripper change their distance from one another before or during the transfer, so that the conductors fit into the pair of gripper jaws of the transfer gripper and can then be easily fed individually to the cable processing stations. The cable conveyor device can preferably be docked by means of a docking mechanism on the input side of the cable processing machine in a defined positional relationship, specifically at least during operation of the cable processing machine. Depending on the embodiment, the cable conveying device can essentially only be attached temporarily (eg as a carriage or the like) or also essentially permanently (eg permanently installed) on the input side of the cable processing machine.

The docking mechanism preferably has a mechanical guide for the positioned docking of the multiple store on the cable processing machine. For example, with a mechanical, magnetic or electronic infeed device for such a transporter, with which it can preferably be positioned in a defined manner in relation to the cable processing machine. In this case, for example, a sensor for determining a docking and/or a docking position, a locking device for locking and unlocking the docking, an inlet damper for the transporter, etc. can also be provided. With these, for example, a safe and defined docking of the transporter on the cable processing machine can be achieved.

The cable conveying device is preferably supported on a floor- or ceiling-supported transporter, which can be moved independently of the cable processing machine. For example, such a transporter can be designed as a wheeled transport system—such as a wagon or trolley or the like—either freely movable or rail-bound. Another example would be a ceiling or wall-bound transport system - such as a gondola or the like. A releasable coupling is preferably formed between the multiple store and the cable processing machine. Such a connection can be formed in particular in the area of the docking mechanism. This detachable coupling is specially designed to bring a drive of the cable processing machine with the cable conveyor device into a mechanical operative connection when docking. This can be done, for example, by means of gears, which interact in the coupled state. In a preferred embodiment, about one of these gears can be rotatably mounted in an intermediate wheel holder, which

Intermediate wheel holder is preferably rotatably mounted about another gear and this rotatable mounting is biased with a passive force element. In this case, all of the gears can preferably be separated from the environment by casing. This casing has an opening which is closed by a closure element during the transport of the multiple store, which closure element has a mechanism which releases this opening when docking in order to make the gearwheel required for coupling accessible. The closing element can be a flap, a slider or something similar.

As an alternative to the detachable coupling, the cable conveying device has a local drive. This can be connected to a preferably local controller, which interacts with the machine controller in the operating state. In the docked state, the multiple store preferably has a removal area and/or an insertion area for the cables, which areas are separated from the grippers and/or from one another by a housing of the cable processing machine and can preferably be operated manually. In one embodiment, the multiple store can be continuously docked to the cable processing machine while it is in operation, and the areas outside the housing can be loaded or unloaded with the cables continuously or cyclically during operation. Optionally, a docking mechanism that can be detached during operation can also be completely dispensed with and the multiple store can therefore be a fixed part or a permanently installed module of the cable processing machine. Thus, continuous operation of the machine can be achieved. In particular, several cable processing systems according to the invention can be operated in parallel with cyclical loading or unloading, for example with an alternating operation of their removal areas and/or insertion areas. Optionally, a fill level can be monitored automatically, for example with a warning if the fill level in the loading area is low or the removal area is almost full.

In another embodiment, after docking, the multiple store can also be essentially completely accommodated within a housing of the cable processing machine. The multiple store can then be loaded or unloaded, for example, by undocking the multiple store, whereupon the same or another loaded multiple store is docked again.

Each of the cable holders preferably has at least one web or driver, a support and/or a clamp. In this case, preferably one clamp and one support can be arranged in parallel on a common belt and/or chains or on two belts and/or chains running synchronously with one another. The clamps can have elastic elements, the prestressing of which can preferably be adjusted. The clamps can and in shots be fixed, which are guided by guides along the conveying direction of the belts and / or chains.

If required, a f-length or coil transport device is preferably additionally provided for transporting cable coils. In such a cable coil, each cable coil can be moved in a suspension or coil transport unit provided for this purpose, preferably synchronously with the movement of the respectively associated cable ends using the grippers. The cable processing machine is preferably designed in such a way that thin cables, standard cables and thick, rigid cables can be processed with the same machine, in particular without having to make significant modifications to the machine. In a preferred embodiment, both short pieces of cable, e.g. several 10 cm, and long cables of several meters can be processed with the same machine, especially by using a hanging transport device of the cable processing machine for the longer cables in addition to the multiple storage for the cable ends. For example, a multiple store according to the invention can also be designed in such a way that it can also be used to provide or convey limp cables.

Preferably, the transporter—as an alternative to an embodiment with a transporter moved by muscle power—is designed with a drive device for moving the transporter. For example, the transporter can be equipped as an autonomous or guided vehicle with its own driving control for at least partially autonomous navigation. The driving control of the transporter can be designed for communication with the machine control and/or with a higher-level control system. Optionally, the transporter can also be designed to be coupled to a factory's autonomous transportation system and moved in a controlled manner.

In one embodiment, at least one magazine is preferably arranged on the input side above at least a partial area of the cable conveyor device, which is designed with an actuatable underside in such a way that cables located in the magazine can be released downwards into the cable conveyor device and/or another magazine with the aid of an actuating device. for example with flaps, sliders or similar on the underside. The magazine or a group of several magazines can preferably be moved using a transporter and/or can preferably be docked to the cable processing machine using a docking mechanism.

Preferably, at least one magazine for accommodating processed cables with an actuatable underside is arranged on the output side, which underside is designed in such a way that cables located in the magazine can be released downwards with the aid of an actuating device, e.g. similar to that described above. In particular, the magazine can be designed with an actuatable underside in such a way that an actuating device can be used to release cables located in the magazine downwards into the cable conveyor device, another magazine and/or a transport or storage box. Here, too, the magazine or a group of several magazines can preferably be moved using a transporter and/or can preferably be docked to the cable processing machine using a docking mechanism.

Preferably, the cable transport device is designed on the output side with a further cable transport device designed as a multiple store, which has several further Has cable holders. This cable transport device can also be dockable by means of a docking mechanism on the output side in a defined positional relationship. A second moveable gripper of the cable transport device is designed to remove one cable after the other from one of the cable processing stations and to feed it to the respective further cable holder. Preferably, the multiple memories for the input side and/or the output side can be of the same or at least similar design and can be interchangeable. At least one missing parts magazine is preferably arranged on the output side, which is provided in order to deposit cables recognized as missing parts by the cable processing machine, preferably marked as "defective". The missing parts magazine can preferably be arranged above or next to a multiple store on the output side in such a way that it can be operated by the movable gripper. For example, the missing parts magazine can also be designed as an additional transporter. Accordingly, only the cables recognized and/or marked as “good” by the cable processing machine are placed in the cable holder on the output side.

In one embodiment, the cable conveying device is preferably designed with at least one chain, in particular an open chain, as a multiple store, the chain segments or chain links of which can be separated and which each have at least one of the cable holders. The chain segments are specially designed in such a way that they can be easily removed, ie in particular without special tools, for example by hanging or unhooking or clipping additional chain links at the beginning or end of the chain, by a user and/or by automated stations and/or assemblies in the cable processing machine can be separated from one another or connected to one another. In this way, for example, the chain can be provided as a quasi-endless multiple conveying device in that the chain is lengthened with further chain segments during operation of the cable processing machine or is shortened by chain links that have already been used. The cable processing machine or the cable transport device preferably includes a drive which is designed in such a way that the chain can be transported with it, especially when the chain is not tensioned, ie not closed but with open ends. For example, with an at least one-sided, preferably two or three-sided chain guide and a driven chain conveyor element (chain gear, double toothed belt with the outer teeth matching the chain, walking beam drive, ram, or the like). The chain segments are preferably fed into or removed from the machine on transport units such as carriages or the like. The empty chain segments are preferably collected or stored in chain supply collection containers in the area of the cable conveyor devices, for example in boxes or on rollers. Additional sensors are preferably used here, preferably cameras, in order to monitor the fill level. Alternatively, the two cable conveyor devices on the input and output side can also be connected to one another in such a way that the empty chain segments on the input side are conveyed directly to the output side. There can also be another sensor for detecting the end of the chain on the input side, in order to stop the machine in good time before the end of the chain.

Preferably, the overall system can also have at least one other gripper with an associated transfer drive outside the housing of the cable processing machine, which such is arranged and designed such that it serves the removal area and/or the insertion area of the multiple store. This further gripper can in particular provide a transfer of a cable between the removal or insertion area and an external ceiling or floor-bound transport system outside the cable processing machine, for example an external trolley or carriage with which the cables in a factory are removed or provided manually or automatically. Alternatively and/or additionally, other grippers with the associated transfer system can also be used in order to move not only the cables or the cable ends, but also the coils of long cables.

The cable processing machine and/or the cable transport device is preferably equipped with at least one sensor, which is designed to provide information about the number and/or position of the cables, specifically in a multiple store, in a cable conveyor device, in an alternative multiple transport device and/or in a magazine as described here. For example, the sensor can be designed as a camera for image recognition, a counting device, an optical, inductive and/or capacitive sensor.

The cable processing machine preferably has an intermediate buffer store for cables on the input side and/or on the output side between the multiple store and the cable processing device. This is designed with at least one additional cable holder for storing at least one of the cables within the cable processing machine and can be operated with a gripper. Such an intermediate buffer memory can in particular be designed in such a way that it is for a defined Time window during docking and undocking of a multiple store that holds cables for/from the cable processing station, or cables for or from another gripper and/or the multiple store on the output side. In an analogous manner, the invention also relates to a method for the automatic processing of cable ends of heavy, relatively rigid cables. This takes place at least by picking up or providing several of the cables in several cable holders of a multiple store designed as a cable conveying device.

This multiple store can be a fixed part of the cable processing machine, or preferably a mobile multiple store, which is provided by docking the multiple store on an input side of a cable processing machine. This can be done in particular with an at least partial introduction of the multiple store, which is preferably designed to be mobile, into a housing of the cable processing machine.

In a first, simple embodiment variant, at least one cable or one cable end of one of the cables is removed mechanically from the multiple store with a transfer and transfer gripper of the cable processing machine. Furthermore, feeding the cable or cable end to at least a first one

Cable processing station through the transfer and transfer gripper using at least one associated transfer drive. After the cable or cable end has been processed in the first cable processing station, the cable or cable end is transferred from the first cable processing station to at least one second cable processing station by the transfer and transfer gripper. After the cable or cable end has been processed in the second cable processing station, the processed cable or cable end is removed from the second cable processing station by the transfer and transfer gripper.

In the simple embodiment variant of the invention, the method can also be carried out in that all movements of the cable or cable end are carried out only by a single transfer and transfer gripper and its transfer drive. All of the above-mentioned transfer and transfer grippers can therefore be designed as a single gripper and no transfer between different grippers can take place. For example, the removal from the multiple store on the input side, the feeding to the cable processing station or stations and the depositing in the multiple store on the output side can be done with just a single transfer and transfer gripper and its transfer drive.

In a second, expanded embodiment variant, at least one cable or cable end of one of the cables is removed mechanically from the multiple store with a first transfer gripper and at least one associated therewith

Transfer drive of the cable processing machine by the same. Furthermore, the cable or cable end is transferred from the first transfer gripper to a transfer gripper using at least one transfer drive associated therewith, and the cable or cable end is fed to at least a first one

Cable processing station by the transfer gripper using at least one transfer drive associated with this. The cable end is processed in the cable processing station and the cable or cable end is then transferred from the first station Cable processing station in at least a second cable processing station by a transfer gripper using at least one transfer drive associated therewith, followed by processing the cable or cable end in the second cable processing station. Optionally, further cable processing stations can also follow in the same way. After the last of the cable processing stations, the processed cable or cable end is removed from the second cable processing station by a transfer gripper using at least one transfer drive associated with it, and the cable or cable end is transferred from this transfer gripper to a second transfer gripper using at least one transfer drive associated with it.

In the extended embodiment variant, the method can be carried out by moving the cable or cable ends with a plurality of transfer grippers, with at least one further transfer gripper being provided for transferring the cable end between these at least two transfer grippers.

The cable conveyor device is preferably moved by driving the cable conveyor device by means of a power transmission from the cable processing machine to the multiple store. In this case, in particular, a mechanical coupling can take place during docking, through which coupling the power transmission takes place.

Alternatively, the cable conveyor device can be moved by driving the cable conveyor device by means of a local drive on the multiple store. In this case, the supply of the local drive with a local power supply to the cable conveyor and / or with an electrical coupling of Cable conveyor device done to the cable processing machine during docking.

Preferably, the cables or cable ends can be clamped or inserted into the cable holder, preferably manually and outside of a housing of the cable processing machine.

Preferably, at least one suspended transport unit for a cable coil of a respective cable is moved along with it, at least when the cables or cable ends are being fed in and transferred in the cable processing machine. Preferably, the method also includes moving the multiple store spatially on the floor or ceiling in a factory environment. In particular, this movement also includes the preferably automatic docking and undocking at the

cable processing machine. For example, this movement can take place by means of an autonomously controlled transporter, in particular with preferably autonomous navigation and/or communication with a local control unit of the vehicle

Multiple storage with the cable processing machine, especially when docking. In this case, for example, when the transporter is introduced, a preferably automatic, precisely positioned

The multiple memory is docked to the cable processing machine, in particular by producing a mechanical and/or electrical coupling between them.

Preferably, as part of the method, the cables are also fed to the cable conveying device with at least one magazine for a plurality of cables. In this case, the cables can, for example, by releasing an underside of the magazine by an actuating device in the area of the magazines are fed to the cable conveyor device by means of gravity and/or passed on to a magazine underneath.

In the course of the method, the processed cables are preferably also removed with at least one magazine for the cables. For example, by releasing an underside of the magazine using an actuating device in the area of the magazine, the cables can be passed on to a magazine below by means of gravity. The insertion of the processed cable into the uppermost magazine is preferably carried out directly by the gripper, without a further cable conveyor device also being present on the output side.

The cables are preferably provided and/or removed by actuating an actuatable underside. By pressing this - for example, a flap, push, or the like. the underside of a magazine - the cables can be triggered to fall from one section of the magazine into the cable holder below or into another section of the magazine below. In this case, the magazine is preferably assigned to the multiple store or the cable conveyor device. A docking of a second multiple store on an output side of the cable processing machine preferably also takes place as part of the method. The cable or cable end can preferably also be deposited mechanically in a cable holder of the second multiple store on the output side of the cable processing machine, specifically by a transfer or transfer gripper, preferably by a second transfer gripper and with the aid of a transfer drive associated with it. In the method, there is preferably also an automatic detection of missing parts in the cable processing machine and these missing parts are stored in a separate missing parts magazine. This can be done in particular on the output side of the cable processing machine and preferably with automatic marking and/or rendering the missing parts unusable, preferably in a cable processing station provided for this purpose.

Preferably, the cables can be fed in and/or removed with a cable conveying device with at least one open chain as a multiple store. The chain links or chain segments of the chain have the cable holders and can be easily separated from one another. By separating and/or connecting the chain links or chain segments at the beginning or end of the chain, the chain segments of which contain the unprocessed or processed cables, the cables are fed in or removed, preferably by providing the chain segments on trolleys or the like and using a Cable processing machine existing chain part connected or separated from this. The empty chain segments at the other end of the chain are preferably collected or stored in chain supply collection containers or directly on the wagons; or the two chains on the input and output sides are connected to one another in such a way that the empty chain segments on the input side are conveyed to the output side and serve as storage there. Preferably, the cables can also be fed in and/or removed using a cable conveying device with at least one external gripper outside the housing. This external gripper transfers a cable between an external ceiling or floor-bound transport system outside the cable processing machine and a removal area and/or insertion area of the multiple store located outside the housing.

Preferably, a number of cables are temporarily stored in an intermediate buffer store within the cable processing machine, between the multiple store and one of the cable processing stations by means of a gripper.

In other words, an embodiment of the invention also relates to a feed system for heavy, relatively rigid cables to a cable processing machine in which an automatic

Processing of cable ends of the cable takes place in at least one cable processing station or cable finishing device of the cable processing machine. This feed system has a cable transport unit, which is designed as a floor or ceiling-mounted transporter, which can be docked to the cable processing machine with a docking mechanism between the transporter and an input side of the latter. The cable transport unit has several cable holders in the form of a multiple store, which cable holders are designed in such a way that one of the cable ends can be removed mechanically from a cable transport device of the cable processing machine and fed to several cable processing stations for processing the cable ends. The transport device can be specially designed in such a way that the cable transport unit remains on the input side and the cable is moved separately from the cable transport unit to and from the cable processing stations in the cable processing machine. In other words, one embodiment of the invention also relates to a removal system for heavy, relatively rigid cables from a cable processing machine, which is designed to automatically process cable ends of the cables in at least one cable processing station or cable end processing device of the cable processing machine. The removal system has a cable transport unit, which is designed as a floor or ceiling-mounted transporter, which can be docked to the cable processing machine with a docking mechanism between the transporter and an output side of the latter. The cable transport unit has several cable holders in the form of a multiple store, which cable holders are designed in such a way that one of the cable ends can be removed from at least one of the cable processing stations of the cable processing machine by a machine using a cable transport device and can be placed in this cable holder. The transport device can be specifically designed in such a way that the cable transport unit remains on the output side and the cable is moved separately from the cable transport unit to and from the cable processing stations in the cable processing machine.

Accordingly, the invention also relates to a system with a cable processing machine and at least two

Cable transport units and with an aforesaid feed system and/or discharge system. Also included by reference is International Patent Application PCT/IB2021/052229 filed on the same day by the same applicant and with the same principal inventor, which also relates to "cable processing with infeed and outfeed". Specially included are those paragraphs which the hanging transport Device and their embodiments further detail, which are applicable in this invention in an analogous manner.

Further advantages, features and details of the invention result from the following description, in which exemplary embodiments of the invention are described with reference to the drawings.

Like the technical content of the patent claims and figures, the list of reference symbols is part of the disclosure. The figures are described coherently and comprehensively. The reference numbers and their descriptions are to be considered across all figures, especially if they are not explicitly differentiated. The same reference symbols denote the same components, while reference symbols with different indices indicate functionally identical or similar components. The person skilled in the art can also clearly see the functional and logical relationships between the number ranges used. The drawings are symbolic representations. Of course, all load-bearing parts are connected to each other in a meaningful way (e.g. via a frame construction), even if this is not explicitly recognizable from the drawings in some places (e.g. to make other features easier to recognize).

They show:

1a to 11 schematic sketches of different embodiments of a system according to the invention made up of a cable processing machine and the associated cable processing transport system,

Fig. 2a and Fig. 2b is an isometric view of the

Embodiment according to FIG. 1c, once with both cable transport units docked to the cable processing machine (Fig. 2a) and once detached (Fig. 2b),

3a and 3b a further detailed view of FIG. 2b with some elements hidden for a better view of the cable holders on a cable transport device designed as a conveyor belt, FIGS. 4a to 4d various sectional and detailed views of FIG Fig. 2b, looking in the direction of the arrows drawn there, with some elements hidden for a better view of the coupling and the docking mechanism, Fig. 5a and Fig. 5b a special embodiment of

Cable transport unit for transporting coiled cables, similar to that shown in Fig. le,

6 shows an isometric view of a cable winding conveyor device or multiple transport device for multiple strand transport units, here designed as a walking beam, Fig. 7a to Fig. 7e the functioning of a multiple

Transport device with walking beam drive principle and rotary, preferably electric drive,

8a to 8f the mode of operation of a multiple transport device with a walking beam drive principle and a translational, preferably pneumatic drive,

9 shows a schematic sketch of a further one

Embodiment of a system according to the invention according to FIG

cable processing transport system,

FIG. 10 a cable for a system according to FIG. 9 in a schematic view,

FIG. 11 shows a multiple memory for a system according to FIG. 9 in a perspective view,

Fig. 12 shows an embodiment of a transfer gripper for a

System according to FIG. 9 in a perspective view, and

13 shows an embodiment of a transfer gripper for a system according to FIG. 9 in a perspective view.

1a to 11 show schematic sketches of various embodiments of a system according to the invention made up of a cable processing machine 90 and the associated cable transport system 10, which in some versions extends outside of the cable processing machine 90. In the embodiment in FIG. 1a, this cable transport system 10 consists of at least one transfer gripper 11, two transfer grippers 20a, 20b, the transfer mechanisms 12, 22a, 22b belonging to the grippers, and two groups of cable transport units 30a, 30b for transporting a plurality of cables 80. These cable transport units 30a, 30b are designed as carriages or trolleys and can move independently of the cable processing machine 90. The carriages 30a used for loading the cable processing machine 90 can dock at the input side 95a of the cable processing machine 90 with the aid of the docking mechanism 300a. The carriages 30b used for unloading the cable processing machine 90 can in this case dock on the output side 95b of the cable processing machine 90 with the aid of the docking mechanism 300b. Depending on the embodiment, the carriages 30a and 30b can each be designed differently, i.e. specifically either for the entry side 95a or for the exit side 95b, or the carriages 30a and 30b can also be designed in the same way, so that the same carriage 30a, 30b can be used on the entry side 95a or at the exit side 95b. A plurality of cable holders 32a, 32b are provided in each of the two carriages 30a, 30b. These can either be designed as simple dividers (as shown here in Fig. La) or pads 324 (as shown in Fig. 3a), but also as spring-loaded cable clamps 323 (as shown in Fig. lh, Fig. 3a and Fig. 3b) . Several cable holders 32a, 32b are preferably used per cable 80, preferably in combination with a clamp 323 and a support 324, for example as shown in FIG. 3a.

For processing the cables 80, they are successively removed from a cable holder 32a or a pair of cable holders 323, 324 of the Loading carriage 30a removed from the first transfer gripper 20a. The transfer gripper 20a transfers the removed cable 80 to the transfer gripper 11, which feeds it to at least one, preferably at least two or more cable processing stations 70a, 70b for processing. For this purpose, in addition to the two grippers 20a and 11, the transfer mechanisms 12 and 22a respectively associated with them also move. After completing all

Processing in the two cable processing stations 70a, 70b shown here as an example, the cable 80 is transferred from the transfer gripper 11 and the transfer mechanisms 12 and 22b to another transfer gripper 20b in the area of the output side 95b, which then places it in a cable holder 32b or a pair of two cable holders 32b of the unloading car 30b deposits or hands over. Alternatively, the cables can also be stored directly in a transport or packaging box for finished cables.

In this way, one cable 80 after the other can be processed fully automatically until the loading carriage 30a is empty and/or the unloading carriage 30b is full - represented by the thin arrows which illustrate the movement of the cable 80, with solid lines the current movement and broken lines represent other possible movements. All grippers 11, 20a, 20b and the associated drive axles or transfer mechanisms 12, 22a, 22b for moving them are part of the cable processing machine 90 and connected to its controller 93, for example via various control cables (not shown). Both all transfer mechanisms 12, 22a, 22b and all cable processing stations 70a, 70b, ... are attached to the frame or stand 92 of the cable processing machine 90. To the To ensure the safety of the user, an enclosure 91 or some other safety device such as a light curtain, etc. can be provided. This is designed in such a way that it covers at least the travel range of all grippers 11, 20a, 20b and transfer mechanisms 12, 22a, 22b but still does not impede the moving in and out of the carriages 30a, 30b (represented by block arrows). A safe loading and/or unloading of cables 80 can thus also take place during the operation of the cable processing machine 90 . The docking mechanisms 300a, 300b are designed in such a way that they enable the carriages 30a, 30b to be easily and reliably docked to the cable processing machine 90 and also to inform its controller 93 whether a carriage 30a, 30b is currently docked or not. The docking preferably takes place here with a defined position from the carriage 30a, 30b to the machine 90, so that there is preferably a known removal or depositing position for the cables 80. In addition or as an alternative, such a position reference can be determined by means of sensors 3042 and made available to the controller 93 of the cable processing machine 90--as is shown, for example, in the exemplary embodiment in FIGS. 4a and 4b. There are preferably additional sensors 3042,

Locking devices 304 and / or mechanical

Guides 301, 303 or inlet surfaces are used, which is explained in more detail below. The multiple storage 30a, 30b, so in the figure shown the carriages 30a, 30b can be designed in various embodiments from very simple to "intelligent" or fully autonomous, the actual transporter 34 of the multiple storage area with the cable holders 32a, 32b and/or from the docking mechanism 300a, 300b can be made separable. Schematically shown in Fig. 1 is an embodiment as an intelligent car 30a on the input side 95a, for example with its own controller 35, drive motors 352 for moving the moving elements 33, sensors 353 for navigation, an energy supply 354 and cables 351 which all connect these elements, etc. The controller 35 can be specifically designed so that it can communicate with the controller 93 of the cable processing machine 90, the controller 35 of other carriages 30a, 30b or a central overall controller, preferably wirelessly. Cameras, for example, are used as sensors 353, preferably supported by other sensors and software processes that provide the information required for (indoor) vehicle navigation (LIDAR, RFID, proximity sensors, guidance systems, IPS ("indoor GPS"), triangulation methods, SLAM, etc.). A rechargeable battery (accumulator) is preferably used as the energy supply 354, which can be charged, for example, in the docked state. The power supply for operation and/or charging can also be wireless or contactless via induction or current collectors with sliding contacts.

Wheels are preferably used as moving elements 33 in the case of ground-based carriages, ideally 4 per carriage 30a, 30b. For example, for maximum maneuverability in tight spaces, Mecanum wheels with additional rollers in the wheel (e.g. as in US3876255) can be used, driven by one at a time

Motor 352, preferably a geared electric servo motor. In addition, alternative drive principles can also be used, for example with balls similar to those in old computer mice, classic wheels and swivel joints, and/or leg-like movement elements for overcoming steps and/or others obstacles. The carriages 30a, 30b can also be designed with wheels suitable for rails, an air cushion bearing with a suitable drive and/or a magnetic levitation train. In addition to floor-based transport systems, the carriages 30a, 30b can alternatively also be designed to be mounted on the ceiling or wall in other embodiments.

In minimal embodiments of carriages 30a, 30b according to the invention, drive elements and/or sensors can also be completely dispensed with. Such trolleys 30a, 30b can, for example, be moved and/or docked or undocked by the operating personnel themselves - e.g. similar to a shopping trolley in a supermarket. Any desired intermediate stages of the carriages 30a, 30b can be formed between this minimal and a fully autonomous embodiment and, if necessary, also be used jointly in a system.

It is particularly advantageous if the manufacturer of the cable processing machine 90 largely leaves this decision to his customers and only provides the cable holder 32a, 32b and the docking mechanism 300a, 300b; with a simple and clearly defined mechanical interface 341 to the actual carriage 34, which can then be provided by the customer according to his needs and equipped with the aforementioned components. An embodiment of such a structure is shown schematically on the left on the output side 95b of FIG. The multiple storage 30b, specifically the cable holders 32b and their support structure with the attached docking mechanism 300b is attached to the transporter 34, for example via the easily detachable, mechanical interface 341. This transporter 34 can be procured by the customer himself, e.g. as a standard product and/or an existing transport system can be used. Here he can decide for himself whether very simple and inexpensive transporters 34 are to be used for self-pushing, whether intelligent trolleys 35 with control, drive and navigation are to be used, or a mixed operation of these should take place. When deciding on an intelligent car 35, a model from the same manufacturer can be selected as is already used elsewhere at the same location, which is equipped according to the invention with the multiple memory 30a, 30b and possibly with a mechanical or virtual/sensor-based docking mechanism. A later upgrade is also possible at any time, for example by transferring the cable holder 32b and/or the docking mechanism 300b to a motorized and/or autonomous transport system, e.g. with the interface 341 whose transport through the machine is changed, any downtime of the machine 90 can thus be reduced or avoided. Intermediate buffers 40a, 40b are preferably used for this purpose, for example as shown later in FIG. 1d. FIG. are mounted stationary on their support structure, but are designed as a cable conveyor device 320a, 320b - in the example shown, but not necessarily, on both sides of the cable processing machine 90. In another embodiment, for example, the input side 95a as shown and the output side 95b with a simple Storage of the finished cable in a transport box, possibly on a carriage 34 (not shown) take place. The cable conveyor devices 320a, 320b shown here are part of the cable processing machine 90, in particular with the Frame 92 firmly connected, and controlled by the controller 93. Separate, separable from the machine 90 cable transport units 30a, 30b (as in Fig. La) are not provided. The travel path of the transfer mechanisms 22a, 22b for the transfer grippers 20a, 20b can be made correspondingly shorter, as can the mechanical or virtual housing 91 for personal protection from moving machine parts.

These cable conveyor devices 320a, 320b are preferably designed as a conveyor belt, for example as explained in the example of FIG second belt 3204 designed as a support 324.

As described in more detail in the embodiment of FIG is working.

As described in FIG. 7 and FIG. 8, the cable transport devices 320a, 320b can also be designed as walking beams—similar to the multiple transport units 52d for the length transport units 53.

In the embodiment shown, the outer areas of the two cable transport devices 320a, 320b are accessible to operators at all times. To load the machine 90, the operators place the unprocessed cables 80 or cable sections in the cable conveyor device 320a on the input side 95a (represented by the bold block arrow in the loading area 321a) and remove the processed cables 80 from the cable conveyor device 320b on the output side 95b (represented by bold block arrow in removal area 321b). This can also be done during operation of the machine 90 take place, preferably not individually, but in tranches, for example according to a warning message when a fill level of the cable conveyor device 320a or 320b is exceeded or fallen below. Corresponding sensors 322, preferably designed as cameras or non-contact proximity switches, are used for this fill level measurement, and/or there can also be several binary sensors (e.g. inductive sensors, capacitive proximity sensors, limit switches, light barriers, etc.), the arrangement of which varies depending on the embodiment can. Only the filling level sensor 322 on the input side 95a is shown here as an example. In the same way, corresponding sensors 322 can also be provided on the output side 95b.

With this mode of operation, for example, a single operator or robot can take over both the loading and the unloading and/or serve multiple machines 90 . There is no need to change the carriage and, if need be, to stop the machine 90 as a result. However, cables 80 have to be added and removed regularly; in this special embodiment individually and directly at the machine 90 - and not as in the other embodiments as a wagon load with several cables 80, which are also loaded or unloaded from the wagon 30a, 30b away from the machine 90 and/or further processed and/or packaged can become. However, manual or automated loading and/or unloading 321a, 312b from or to a carriage can also take place. In the example shown, the cables 80 are transported inside the cable processing machine 90 in the same way as in FIG. 70b, but can also take place according to another of the embodiments shown here. 1c shows an embodiment which, so to speak, combines the main features and thus the advantages of the two variants shown so far. Here, too, the cable holders 32a, 32b are fastened to cable conveying devices 320a, 320b. Unlike in FIG. 1b, however, these cable transport devices 320a, 320b are part of cable transport units 30a, 30b, which move independently of the cable processing machine 90 and can be docked and undocked to it—for example similar to the carriages in FIG.

In this embodiment, both operating modes are possible during the loading and/or unloading process, i.e. changing complete carriages 30a, 30b (as in FIG. 320b (as in FIG. 1b), as is symbolized by the thick block arrows 321a, 321b or those in the carriages 30a, 30b. According to the invention, there are preferably at least two options for driving the cable conveyor devices 320a, 320b: The first option is a dedicated drive for this purpose, directly on the carriage 30a, 30b, preferably connected to a dedicated drive

Controller 35 on this carriage 30a, 30b. This variant is advantageous in combination with intelligent vehicles 30a, 30b (eg as in FIG. If simple carriages 30a, 30b without their own controls are used, the drive 311 for the cable conveyor device 320a, 320b can preferably be part of the cable processing machine 90. In particular, the drive for the cable conveyor device 320a, 320b can take place in a manner similar to that in FIG. 4c or FIG. 4d, specifically the schematic block 310a, 310b shown here, for example with the individual elements shown later 311, 312a, 312b and/or 313a, 313b. The energy can be transmitted to the cable conveyor device 320a, 320b electrically, but preferably purely mechanically via a mechanical coupling 310a, 310b in the area of the docking mechanism 300a, 300b. Specifically, but not only after docking, a separate sensor or the same sensor 322 that is used for measuring the fill level can be used to calibrate the positioning of the drive or the cable 80 in relation to the gripper 20a, 20b, preferably embodied as Camera. In one embodiment, the two coupling halves 312a, 312b and 313a, 313b can be designed, for example, as gear wheels or as a type of power take-off shaft, which are brought into engagement with one another during docking, for example as is described in FIGS. 4a and 4b.

FIG. 1d shows a system similar to FIG. The cable processing machine 90 consists of 2 or more modules, each with a frame 92a, 92b and a transfer mechanism 12a, 12b which can be moved over the full frame or module length and has transfer grippers 11a, 11b attached thereto. A further transfer gripper 20c with an associated transfer drive 22c is provided for transferring the cable 80 from the first transfer gripper 11a to the second transfer gripper 11b. With this structure, two or more cables 80 can now be processed simultaneously in the machine 90, which improves the cycle time. In other embodiments, the cable processing machine 90 can also have three or more transfer grippers and, to match, more transfer grippers and transfer drives. With standardized lengths for the frames 92a, 92b and the transfer mechanisms 12a, 12b attached thereto for the Transfer grippers 11a, 11b can thus be provided with a modularly configurable cable processing machine 90.

In addition, an intermediate buffer memory 40a with further cable holders 32c is provided on the input side 95a. This is part of the cable processing machine 90 or a module of this, and is specially designed to bridge the time of the carriage change. This is particularly advantageous when the carriage change takes longer than one processing cycle. During normal operation, the transfer gripper 20a not only transfers the cables 80 taken from a cable holder 32a of the carriage 30a to the transfer gripper 11a, but also places some of them on a cable holder 32c of the input-side intermediate buffer store 40a - until this is full. The intermediate buffer memory 40a is preferably filled in waiting times between the supplies to the transfer gripper 11a, which are preferably treated with priority. As soon as all the cables 80 have been removed from the cable holders 32a of the carriage 30a, a signal sounds for the user to change the carriage 30a or this is changed automatically. During the carriage change, the cables 80 temporarily stored in the intermediate buffer memory 40a are transferred to the transfer gripper 11a. So the cable processing machine 90 can continue to run undisturbed. With a sufficiently high storage capacity of the intermediate buffer memory 40a, which is in particular matched to the duration of the carriage change, uninterrupted operation can thus take place.

A similar intermediate buffer memory 40b with the associated cable holders 32d can alternatively or additionally also be provided on the output side 95b—in an analogous or vice versa manner. To monitor the current fill level in the intermediate buffer store 40a, 40b, either all storage and removal processes can be stored in the control program, and/or additional sensors can be used (not shown), preferably one per cable holder 32c, 32d and/or a camera system, which, for example, at the transfer grippers 20a, 20b can be attached.

FIG. 1e shows an expanded embodiment of an overall system for processing long, pre-cut pieces of cable, which are wound into a cable coil 80c with at least one, preferably several, loops or turns to save space. In addition to the cable transport device 10 for transporting the cable end regions 82, a hanging or winding transport device 50 is provided here, with elements designed accordingly for this purpose in the cable processing machine 90 and in the two cable transport units 30a, 30b. At least one of the cable end regions 82 of the cable coil 80c is inserted in the cable holders 32a, 32b or held by the grippers 11, 20a, 20b when it is fed in and/or removed. The cable coils 80c are transported with the aid of hanging transport units 53, which are guided, for example, in the guides 51a, 51b, 51c and are actively moved by the transport devices 52a, 52b, 52c, or optionally can also be dragged along by the gripper movements. Each hanging transport device 53 has a winding or hanging attachment 55, designed here as a hook, in which the respective cable coil 80c hangs. The suspension attachment 55 can preferably be rotatably mounted in its suspension transport unit 53, for example with the aid of the rotatable mounting 54 shown

Cable processing machine 90 connected, the two outer guides 51a and 51b with the respective cable transport units 30a, 30b. The transport devices 52a, 52b, 52c for the hanging transport units 53 are part of the cable processing machine 90 and are connected to its controller 93. In the embodiment shown as an example, they each have a linear drive axle with a guide and a driver part that can be retracted and extended to match mating surfaces in the suspended transport units 53 . They are arranged offset to one another and overlapping, so that when an overhead transport unit 53 is transferred from one transport device 52a to the next 52c, there is always at least one-sided form fit between at least one transport device 52a, 52b, 52c and the overhead transport unit 53. The movements of the transport devices 52a, 52b, 52c are preferably largely synchronous with the movement of the transfer gripper 11 and/or the transfer gripper 20a, 20b or the associated transfer mechanisms 12, 22a, 22b. This ensures that the cable end areas 82 and the associated cable coils 80c move almost synchronously and cannot get caught in an adjacent cable coil 80c. In order to further improve the reliable replenishment of cable coils 80c from the loading carriage 30a, a special multiple transport device 52d can be provided there, also known as a “cable transport device”. In contrast to the simple transport devices 52a, 52b, 52c, all hanging transport units 53 are moved or conveyed simultaneously on the guide rail 51a, similar to the cables 80 in the cable conveying devices 320a, 320b. This multiple transport unit 52d can also be designed as a conveyor belt, conveyor chain or walking beam. The design as a walking beam is particularly advantageous here. Examples of such walking beams and their Functionality are shown in Fig. 6, Figs. 7a-e and Figs. 8a-f described. All transport units 52a, 52b, 52c, 52d are part of the cable processing machine 90. Alternatively, at least some of them can also be attached to the carriages 30a, 30b—as can the associated guide rails 51a, 51b. Another multiple transport device can also be installed in the unloading wagon 30b. The fastening of the cable holders 32a, 32b to cable conveyor devices 320a, 320b as part of the carriages 30a, 30b (eg as in FIG. 1c) is a further embodiment here. In order to realize the reliable replenishment of cable coils 80c in the loading carriage 30a completely without its own drive, there are also other embodiments according to the invention. One of them has a passive force element, preferably designed as a constant force spring, which pushes the rearmost Flänge transport unit 53 in the direction of the cable processing machine and thus also pushes all the others along with it, similar to cartridges in a gun magazine.

In one embodiment, for example, the travel range of the input-side transport device 52a can be extended into the area of the loading carriage 30a, and this is preferably equipped with at least one additional sensor and/or a corresponding mechanism in order to move the next flange transport unit 53 there - even if their position is not precisely defined and is slightly different each time. In a further embodiment, the multiple transport unit 52d can be part of the carriage 30a and mechanically coupled to the cable conveyor device 320a for the transport of the cable end regions 82, the drive of which in turn can be part of the cable processing machine 90, for example with a coupling 310a as shown in FIG. 4c, or 4d. The cladding 91 is preferably designed in such a way that it does not impede the retraction and extension of the carriages 30a, 30b with the guide rails 51a, 51b attached thereto and the cable 80c hanging from them, while still protecting the user from all dangerous movements of the cable processing machine 90 , in particular also the multiple transport device 52d.

1f shows an alternative embodiment according to the invention of a loading device 60a for the input side 95a, with a very high storage capacity and only a small space requirement, which can preferably be used for very short cables 80. Here again a cable conveyor device 320a is used - either as shown here (and for example in FIG. 1b) as part of the cable processing machine 90, or as part of an external cable transport unit 30a, for example in FIG. Above the cable conveyor device 320a there is a fastening on which several magazines 61a, 61b, 61c can be arranged vertically one above the other. These magazines 61a, 61b, 61c are used to accommodate a plurality of cables 80 and have an actuatable underside 62a, which can assume two states. In the unactuated state (shown with the magazines 61b, 61c), this underside is closed, as a result of which all cables 80 remain lying therein. When actuated (shown at magazine 61a), the underside 62a is opened, causing all of the cables 80 to drop into the cable conveyor 320a below. The actuating device 63a, which is preferably connected to the control 93 of the cable processing machine 90, is provided for actuating the individual magazines 61a, 61b, 61c or their underside. In the example shown, this consists of a vertical drive axis for moving the respective magazine 61a, 61b, 61c and a ram for actuating the underside. At least one sensor in the area of the cable conveyor device 320a (not shown) - or based on the distance or number of movements of the cable conveyor - the controller 93 knows when the cable conveyor is empty and starts a sub-program for refilling. For this purpose, the bottom magazine 61a is first actuated, as a result of which the cables 80 lying therein fall into the cable conveyor device 320a. After that, all the magazines 61b, 61c located above are actuated one after the other, so that the cables 80 always fall one level lower. This ensures that the bottom magazine 61a is always full and the upper magazines 61bc are emptied one after the other. By counting the cables 80 and/or additional sensors in the area of the magazines (not shown), the controller 93 knows at all times how many cables 80 are still in stock and can give the user a warning signal in good time as to when the empty cables should be replaced with new ones. full magazines 61a, 61b, 61c or refilling of the magazines 61a, 61b, 61c is necessary. Magazine transport devices 64a can be used to transport the magazines, shown schematically by two block arrows. These are advantageously designed as carriages or trolleys, with features similar to those already described for the carriages 30a, 30b. In an alternative embodiment, at least part of the magazines 61a, 61b, 61c can be attached to the machine 90. Optionally, automatic refilling can also take place, for example with an autonomous transport system and/or robots.

A similar device with a plurality of stacked, operable magazines 61d, oils, 61f can also be used as a discharge device 60b on the output side 95b. Here, the magazines 61d, ole, 61f are arranged where in the other embodiments (eg FIG. The cables 80 are directly from the left Transfer gripper 20b placed in the correct place of the top magazine 61d. As soon as this magazine 61d is full, the cables 80 located therein are passed on to the respective lower magazines 61f with the aid of the actuating device 63b. Here, too, a magazine transport device 64b is preferably used for transporting the magazines 61d, 11, 11f.

Also shown - but independently of the use of operable magazines 61a, 61b, 61c, 61d, öle, ölf on the input side 95a or output side 95a - at least one further magazine 65 is provided on the output side 95b as a missing parts magazine or scrap box for defectively produced cables 80f or bad parts. For this purpose, the travel path of the left transfer gripper 20b is extended in such a way that all locations of this additional magazine 65 can also be approached. The additional magazine 65 for the faulty cables 80f produced can of course also be used in all other embodiments of the output side 95b - e.g. in FIGS. Preferably, the incorrectly produced cables 80f are marked and/or rendered unusable before they are stored in the other magazine 65, e.g. by an additional cut in a bad part cutting station (not shown) provided for this purpose, in order to rule out confusion with correctly produced cables 80.

In addition to being stored in individual magazine compartments, the faulty cables 80f can also all be ejected into a common reject box.

FIG. 1g shows an expanded overall system according to the invention, similar to that in FIG. 1b, in which loading and/or unloading takes place fully automatically. For this purpose, the system is expanded to include the automatic loading device 400a in the loading area 321a and the automatic unloading device 400b in the unloading area 321b.

In the example shown, the automatic loading device 400a consists of at least one gripper 4020, a transfer mechanism 4022 that moves it and its own controller 4093. This gripper 4020 is also referred to as an external gripper 420 to distinguish it. A loading carriage 430a with cable holders 432a fastened to it and cables 80 located therein can be positioned in the area of this loading device 400a. This loading carriage 430a can be designed similarly to the transport carriages 30a, 30b described in FIG a virtual positioning with a contactless position detection via sensors. A camera 4322 is preferably used to monitor the fill level. Optionally, a separate housing 4091 for the loading and/or unloading device 400a, 400b can also be provided. The complete loading device 400a can in particular be designed in such a way that it can be attached to the cable processing machine 90 and also removed again as quickly and easily as possible in order to switch between manual individual loading (as in FIG. 1b) and fully automatic trolley loading. In addition to complete removal, the gripper 4020 can also be brought into a parking position with the transfer mechanism 4022 and deactivated together with it, and the insertion area 321a can be made accessible for manual operation, e.g. by opening or removing the housing 4091.

In fully automatic operation, the cables 80 are successively transferred from the cable holders 432a of the loading carriage 430a to the cable holders 32a of the cable conveyor devices on the input side. Transported in direction 320b, with the help of the gripper 4020 and the transfer mechanism 4022. The image from the camera 4322 supports this. With a sufficient number of degrees of freedom in the transfer mechanism 4022 and the corresponding intelligence of the control software for interpreting the camera image, the car can be docked in a precise position and thus on a docking mechanism are dispensed with. For this purpose, the transfer mechanism 4022 can be implemented in whole or in part using a standard articulated-arm industrial robot. All drive axles of the transfer mechanism 4022 and the gripper 4020 are preferably designed with force measuring systems, additional sensors and software, which are trained and certified for collaborative operation together with humans. In this embodiment, there is no need for a housing 4091 for the automatic loading device 400a—as shown on the left-hand side for the unloading device 400b and the associated unloading carriage 430b. These elements are constructed similarly or identically to those just described.

FIG. 1h shows another possibility for providing the two operating modes of individual loading (similar to FIG. 1b) and reloading complete carloads of cables 80 (similar to FIG. 1a). For this purpose, the two cable conveyor devices 320a, 320b are designed with chains 3205a, 3205b instead of belts, the chain segments 3206 of which can be easily opened and closed or connected and separated by the operator, preferably without tools or similar to an energy chain/drag chain (e.g. from Cable drag or Igus), ideally even automated by the cable processing machine 90. The drive 3111a, 3111b is designed in such a way that it pulls the chain 3205a, 3205b and the cable holders 32a attached to it with cables 80 can also promote when the chain 3205a, 3205b is not tensioned - similar to, for example, in the case of feed drives for crimp contacts or other consumables attached to belts/chains in cable processing stations 70. For this purpose - as shown on the input side 95a - directly opposite the Drive wheel 3111a may be provided a suitable mating surface 3112a, which ensures the permanent form fit between chain 3205a and drive wheel 3111a. This simple design is sufficient and useful on the input side 95a, which only needs to be pulled. Alternatively, and particularly expediently, on the exit side 95b - where the chain 3205b loaded with cables 80 is mainly pushed - is a special drive 3111b, in which instead of the drive wheel 3111a with teeth, a drive belt with internal and external teeth is used, and a matching one , straight mating surface 3112b. A drive of this type or of a functionally similar design offers the advantage that it can be used in the linear part of the conveyor section and can therefore be placed at a location where the majority of the chain is still predominantly pulled instead of pushed, which makes it more reliable. Alternatively (not shown), a simple drive can also be installed on the output side 95b, identical to the input side 95a, and the chain 3205b can run in a guide, which prevents the chain links from buckling when pushed.

For loading with a complete wagon load, an open piece of a chain 3205c can be placed on a transport wagon 34a and equipped with cables 80 - which can also be done remotely from the cable processing machine 90. This trolley 34a is brought into the area of the entrance side 95a and a user or the machine connects the chain 3205c on the trolley 34a with the chain 3205a in the cable conveyor device 320a - represented by the arrow between the Chain segments 3206 at the respective ends of the chain 3205a on the machine and the chain 3205c on the transport carriage 34a.

The thus lengthened or assembled chain now enables the processing of all cables 80 which have been transported on the transport carriage 34a. When changing the carriage, the machine does not have to be stopped--as, for example, in FIG. There is also no restriction to short cables, as in the case of loading the magazine in FIG. 1f. Complex transfer grippers with the associated transfer systems as shown in FIG. 1g can thus also be dispensed with. In such an embodiment with separable chains 3205a, 3205b, 3205c, the chain segments 3206 can be connected and disconnected as well as the areas under the cable conveyor devices 320a, 320b can be refilled and emptied in a simple manner, preferably manually by a user and/or optionally at least partially automated.

The output side 95b can be designed in a functionally similar manner—but correspondingly in the reverse sequence. Here the

Chain 3205b is not assembled by the user, but pieces of a suitable length are cut off, eg corresponding to the length of a transport carriage 34b—shown here by the arrow with the scissors symbol. With a corresponding configuration of the separating and connecting mechanism in the chain segments 3206, automatic separating can also be carried out using drives of the cable processing machine 90 (not shown). The transport carriages 34a, 34b can be configured very simply in a minimal configuration; a planar support surface and wheels will suffice, optionally with rails or guides for the 3205b chain. Also on a precise docking relative to Cable processing machine 90 can be dispensed with in simple designs, only a device should prevent at least the transport carriage 34b on the output side from being pushed away by the chain 3205b, for example with a foot-operated parking brake on one of the rollers, by hooking onto the machine, etc. (neither of which is shown ).

For the handling of the empty chain segments 3206, preferably chain stock collection devices 329a, 329b are provided below the cable conveyor devices 320a, 320b, preferably designed as a box 329a on the input side and preferably as a roller 329b on the output side. Their filling level can be monitored by corresponding sensors 322b (only shown here as an example on the outlet side 95b). In addition to these level sensors 322b and the cable level sensor 322, another sensor 322a is preferably also on the

Input side 95a is provided, which detects the end of an open chain 3205a and in this case generates a reloading and/or stop signal.

As an alternative to the two chain stock collection devices 329a, 329b on both sides, the chains 3205a, 3205b can also be connected to one another on both sides in such a way that the empty chain links 3206 are conveyed in front of the cable conveyor device 320a on the input side to the cable conveyor device 320b on the output side. If the chain segments 3206 are designed in such a way that they also enable mechanical opening, the empty chain pieces can also be placed on the chain supply collection device 329a on the input side, already prepared to the lengths suitable for the carriages 30a, 30b. The chain links 3206, which have been emptied and prepared to a suitable length, can also be directly in one on the input side be deposited again in the lower carriage area on the transport carriage 34a (instead of in a chain supply collection device 329a). Similarly, a supply of empty chain links 3206 on the exit side can also be taken from a lower portion of the trolley 34b (rather than from a chain supply collector 329b). In both cases, when changing carriages, the chain is connected and disconnected manually or automatically at the appropriate point (e.g. below and/or above). This means that both new and used chain links can be added and removed when the carriage is changed.

For a better fixation of the cables 80, the chains 3205a, 3205b are preferably designed so wide that several cable holders 32a per cable 80 can be attached to them, and/or several chains run parallel (similar to the belts 3203, 3204 in Fig. 3a). It can also be advantageous to equip only those chain links or chain segments 3206 (or only the correct side there) with the mechanism for particularly easy opening and closing of the chain connection - preferably as multi-link chain parts whose length matches the carriage. In this way, not only can production costs be saved, but the user is also prevented from creating “unsuitable” lengths that do not match the length of the transport carriages 34a, 34b. As already mentioned, such a mechanism can be designed in such a way that, in addition to or as an alternative to manual opening and closing, it also enables automated opening and closing. In embodiments with automated chain separation/connection, fully automatic operation, e.g. with automatic carriage change and/or autonomously driving carriages, can also be implemented.

In one embodiment, a cable conveyor 320a, 320b according to the automatic conveyor system just described with chains 3205a, 3205b can easily become a "simple" mode of operation for loading and / or unloading individual cables 80 - be designed convertible - similar to, for example, in Fig. lb. This can be done, for example, by the cable conveyor device 320a, 320b being designed in such a way that the chain 3205a, 3205b can be provided both as a broken chain with open ends as described above and also joined together to form a closed chain, specially designed with corresponding guides or paths ( not shown) for the respective chain configuration which can be used and converted or converted as desired. For example, the chains 3205a, 3205b can then be joined together, preferably manually, to form a closed loop or a loop - as optionally shown with the dashed arrows, whereby the cable conveyor device is reconfigured into a continuously circulating multiple store which is individually loaded or unloaded with cables 80 can be similar to that shown in Fig. lb.

Fig. Li shows a simplified design similar to Fig. La. Here the entire cable transport is realized by a single gripper, the transfer and transfer gripper 20d. A single transfer drive 22d belonging to the gripper 20d and thus the working area of the gripper 20d extends over the entire machine 90. The machine 90 is therefore for a transfer-free cable transport by means of a single gripper 20d from a multiple store 32a on the input side, through the cable processing stations 70a, 70b and formed into a second multiple memory 32b on the output side.

Fig. 2a and Fig. 2b show an isometric view of the embodiment such as in Fig. lc. In Fig. 2a, once with both cable transport units 30a, 30b docked at the Cable processing machine 90 and once detached in Fig. 2b. Also shown in FIG. 2a are the viewing directions for FIGS. 4a and 4c and in FIG. 2b the viewing directions for FIGS. 3a and 4b—represented by the arrows 3A, 4A, 4B and 4C. FIG. 3a shows a detailed view of FIG. 2a, according to the arrow 3A drawn there, with some elements hidden for a better view of the cable holders 32a and the cable conveyor device 320a, which moves them, designed here as a conveyor belt. In the example shown, each cable holder 32a includes a clamp 323 and a support 324. The conveyor belt 320a consists of two belts or toothed belts 3203, 3204, which are driven via a common shaft 327. There is also a common shaft (not visible) on the opposite side in the area of docking mechanism 300a (see also FIG. 4a) and coupling 310a (see also FIG. 4c). In order to make the two cable conveyor devices 320a, 320b identical for the input side and the output side, gear wheels are preferably attached to both shafts.

The clamp 323 is attached to the belt 3203 and the support is attached to the other belt 3204. The cables 80 (only one of them shown here) are each attached in a clamp 323 and the associated support 324, with the cable end to be processed in the area of the terminal 323. In order to prevent snagging and thus snagging of adjacent cables on the opposite side in the area of the support 324, even with longer cables 80, a guide 328 is provided there, designed here as a sheet metal with a smooth support surface. Alternatively, a version with several rollers can also be used.

Alternatively, supports 324 on both sides can also be used for very short cables 80 in order to simplify the insertion of the cables, which is advantageous when the conveyor belt 320a is loaded fully automatically - Eg with a magazine loading device 60 from FIG. Clamps 323 can also be used on both sides. Instead of (toothed) belts 3203, 3204, chains 3205a, 3205b, 3205c can also be used, preferably with easily divisible chain segments 3206 and a drive 3111 that also works without chain tension, eg as explained in FIG. Instead of two belts 3203, 3204 or chains 3205a, 3205b, 3205c, one wide belt or one wide chain can also be used, or also three or more or a single correspondingly wide conveyor belt. If no clamps 323 are used in one embodiment, but only supports 324 (e.g. for very short cables), a walking beam drive could also be used for cable transport, e.g. similar to that used for the multiple transport device 52d for the length transport units 53 as in Figs. 7 and figs. 8 described. Fig. 3b shows a detailed view of Fig. 3a, with a section according to the section plane 3B shown there, through the belt 3203 and the guide elements 3201, 3202a, 3202b provided for it, here executed with a plate 3201 and two metal sheets 3202a, 3202b. The cable clamps 323 are attached to the belt 3203. These each consist, for example, of two clamping jaws 3233a, 3233b, two holders 3232a, 3232b and a receptacle 3231. The two clamping jaws 3233a, 3233b are made of elastic material and are attached to the two holders 3232a, 3232b , which are fixed here in a C-profile of the mount 3231. They form an "M", similar to the "golden arches" of the McDonalds logo, which is why these clamps are also known colloquially as "McDonalds clamps" and are also known in a similar form from tool clamp strips, for example. In the embodiment shown, by moving the holders 3232a, 3232b in the C-profile, the pretensioning force of the clamping jaws can be adjusted to suit the type and diameter of the cable 80. The receptacle 3231 and thus the cable clamp 323 is fixed to the belt 3203 by two screws, which are arranged transversely to its conveying direction. This allows the cable clamps 323 to move smoothly around the curve at the shaft 327 (see also Figure 3a). The attachment of the supports 324 to the belt 3204 (see also FIG. 3a) and also the guidance of this belt 3204 takes place in an analogous manner.

4a to 4d show various sectional and detailed views of FIG. 2, looking in the direction of arrows 4A, 4C in FIG. 2a, arrow 4B in FIG. 2b and arrow 3D in FIG. 3c; with some elements partially hidden to provide a better view of input coupler 310a and input docking mechanism 300a.

Figures 4a and 4b show the ingress docking mechanism 300a. In Fig. 4a in the state "brought together and locked" - as in Fig. 2a. In Fig. 4b in the "spread" state - as in Fig. 2b. The viewing direction corresponds to the two arrows 4A, 4B, which are shown in Fig. 2a and Fig. 2b.

In the example of an embodiment shown, there is a locking pin 302 and a guide 301 on the carriage 30a, designed here as a rectangular profile. On the input side 95a of the cable processing machine 90 are the matching counterparts - the locking device 304 and the guide 304, designed here as a U-profile. The two parts of the guide 303, 304 are pushed into one another during docking, and thus the carriage 30a is mechanically positioned or centered exactly in relation to the cable processing machine 90. In order to compensate for inaccuracies at the beginning, generous run-in areas are provided on both sides of the guide 303, 304. In order to increase the ease of use increase and avoid damage, a damper 305 can also be provided, here designed as a shaft with a spring-loaded disk and attached to the cable processing machine 90. If the carriage 30a is correctly positioned relative to the cable processing machine 90, this is detected by a sensor 3042 and the Locking device 304 activated. In the example shown, this consists of a sliding plate 3041 and a drive 3040, designed here as a pneumatic cylinder. This sliding plate 3041 is moved by the drive 3040 for locking. As a result, their effective surfaces move into a groove in the locking pin 302 and thus produce a positive connection which fixes the carriage 30a on the cable processing machine. To release this fixation, the sliding plate 3041 moves out again. Exactly the same mechanism is installed again on the output side 95b. In another embodiment, the locking pin 302 and the damper 305 can also both be fastened on the carriage 30a, 30b or both on the cable processing machine 90. If they are both on the same page, they can also be designed as a common functional element (not shown). In other words, in a partial aspect of the present invention, a cable transport trolley 30a or a coupling attachment for one is provided, which is designed with a

Docking mechanism 300a, which has: a guide element, preferably designed as an extension with essentially parallel side surfaces, a preferably rotationally symmetrical locking pin 302 with a preferably wedge-shaped

Entry geometry (chamfering) at its free end and a groove or diameter reduction (groove) behind the free end. Respectively, a cable processing machine 90 or Functional module provided for such a docking mechanism, which is designed with a docking mechanism 300a, which has: a tapering entry area for side surfaces of a guide element of a carriage, at least one preferably circular opening for a locking pin 302 of the carriage with a locking unit 304 behind the opening which is formed to hold the locking pin 302 in a form-fitting manner in a locking position and to release it in an open position, and with a ramp surface for a damping element of the carriage, the locking unit preferably being designed in such a way that an inserted locking pin 302 is automatically locked and an unlocking device that can be actuated in a controlled manner, optionally with a sensor for detecting a docked car. In addition to the above preferred embodiment, the person skilled in the art is also familiar with functionally equivalent embodiments of such a docking mechanism for positioning and preferably also locking docking of carriages in various variations, for example with electromagnets or switching magnets. FIG. 4c shows a further detailed view of FIG. 2a with the viewing direction according to the arrow 4D drawn there and some elements hidden for a better view of the coupling 310a. In the embodiment shown as an example, this clutch 310a is designed with a power transmission from the cable processing machine 90 to the multiple accumulator 30a, 30b. This is designed as a group of several gears 312a, 312b, 313a, 313b. The drive 311 is designed as an electric motor with a gear. It is attached to the cable processing machine 90 and has the first gear wheel 312a flanged to its shaft. The second gear 312b is rotatably mounted in the intermediate wheel holder 315, which in turn can rotate about the main axis of the drive 311 and is biased by a passive force element 314 . Depending on the cable conveying direction, there are also one or more gears 12a, 312b on the carriage 30a, one of which is connected to the conveyor belt 320a. As soon as the carriage 30a docks at the cable processing machine 90, the second gear wheel 312b comes into operative connection with the gear wheel 313a or the gear wheel 313b. In order to engage at any time, even in an unfavorable position of the gears 312b, 313a, 313b to each other - ie "tooth on tooth" - to allow the gear 312b by rotating the

Intermediate wheel mount 315 springs away a little and is soon brought back into the starting position by the passive force element 314 . The entire transmission is designed in such a way that the drive torque in the preferred conveying direction points in the same direction as the effective direction of the passive force element 314. In the case of the input side 95a shown here, the cable conveyor device 320a conveys to the right, i.e. into the cable processing machine 90 . Gears 313a, 312b rotate clockwise, gears 313b, 312a counterclockwise. Thus, the drive torque assists gear 312b to move in the direction of

To move gear 313b and thus in the direction of the latching position.

On the output side 95b (not shown), the conveying direction is the other way around, i.e. out of the cable processing machine 90. Therefore, no intermediate gear wheel 313b should preferably be installed on the side of the carriage, but gear wheel 312b should interact directly with gear wheel 312a.

FIG. 4d shows a sectional view of the main elements from FIG. 3c, according to the sectional plane shown there using the pair of arrows 4D. There you can see again how the gears 312a, 312b and the intermediate wheel holder 315 are rotatably mounted relative to one another and to the drive 311 .

Optionally - preferably coupled with elements of the docking mechanism 300a, 300b, for example with the locking device 304 or the sensor 3042 (Fig. 3a, Fig. 3b) - the gear wheel or the cable conveyor device 320a, 320b can also be locked so that the cable conveyor device 320a, 320b is blocked when the carriage is undocked and cannot be moved unintentionally. Optionally, in addition to or as an alternative to the camera or sensor 322 (Fig. 1b), there can also be layer monitoring on the cable conveyor device 320a, 320b and/or the cable processing machine 90, which is designed to indicate a position of the cable conveyor device 320a, 320b and thus the position therein to determine the cables 80 located so that the cables 80 can always be gripped correctly, or the cables 80 are always provided in a known position relative to the cable processing machine 90, no matter how the gears mesh (e.g. with tooth on tooth or another displacement).

5a and FIG. 5b show special embodiments of the cable transport unit 30a for the transport of coiled cables 80c, similar to what is schematically outlined in FIG. All cable coils 80c hang in each case in a hanging transport unit 53, which are guided in the guide rail 51a. The cable ends to be processed are each clamped in a cable clamp 323 and guided over a support 324 in the direction of the cable coil 80c--identically as with shorter, non-coiled cables 80 as in FIG. 3a.

5a shows a special design of the cable transport unit 30c, which also includes the guide rail 51a. 5b shows a further design for the carriages for transporting the cable coils 80c. Here, the guide rail 51a for the hanging transport units 53 is attached to a separate hanging transporter or extra carriage 30e, which can be moved independently of the main carriage 30a. This main carriage 30a is preferably designed identically to the carriages 30a, 30b already used for shorter cables 80, for example as shown in Figs. 2 to Figs. 4 shown. Another docking mechanism similar to 300a, 300b (not shown) can be provided for the correct positioning of the extra carriage 30e - either between the two carriages 30a, 30e or between the extra carriage 30a and the cable processing machine 90. In addition to the low variety and complexity of the carriages the embodiment with two separate carriages 30a, 30e also allows a simplification of the "reload individually" operating mode. In this case, the main carriage 30a always remains docked, the user drives the cable coils 80c up with the extra carriage 30e and places the cable ends of the cable coils 80c individually in the cable clamps 323. Similar trolleys can be used on the unloading side as on the loading side. Also shown are two basic ways in which the cable coil 80c can preferably be hung up. In FIG. 5a, the outlet of the cable coil 80c, which is at the rear or is remote from the cable clamp 323, is clamped and processed; in Fig. 5b the front or the cable clamp 323 facing outlet. When using the rear outlet as in FIG. 5a, the cable 80 can be rotated more easily and with less torque for correct alignment for later processing. On the other hand, the length of the unfixed cable between clamp 323 and cable coil 80c is longer, which can lead to adjacent cables or cable coils 80c getting caught. Depending on the type of cable and thus its torsional and Bending stiffness, the user can freely choose which type of suspension he prefers. A swivel joint 54 (shown in FIG. 1e) is provided at least in each hanging transport unit 53 to support simple cable rotation. 6 shows an isometric view of a cable winding conveyor device or multiple transport device 52d for a number of hanging transport units 53, designed here with a walking beam drive. The multiple transport device 52d includes a plurality of carriers 521, arranged at a distance from the hanging transport units 53 on the guide rail 51a of the carriage 30c or extra carriage 30e, for example as in Fig. 5a, Fig. 5b Force can transfer to the hanging transport units 53. In contrast to a conveyor belt (similar to 320a, 320b), the drivers 521 of the walking beams do not run around for transport, but move back and forth at a predetermined distance, taking the hanging transport units 53 with them or promoting them in only one direction return empty in the opposite direction. Exemplary drive variants are shown in the two following figures. Alternatively or additionally, the cable conveyor device 320a, 320b (for example in FIG. For this purpose, the entire walking beam drive could be designed with a similar width or 2x parallel, eg like the previously described variants with conveyor belts or chains.

7a to 7e show the functioning of a multiple transport device 52d with the walking beam transport principle and a rotary, preferably electric, drive 525e. Turn for this two discs 523a, 523b synchronously, connected via a chain or a toothed belt 524. The connecting beam 522, to which the drivers 521 are attached, is fastened eccentrically to these two discs 523a, 523b. The parallelogram created in this way causes the rotation of the two disks 523a, 523b to produce a circular movement of the connecting beam 522 without it rotating, similar to the "flying carpet" funfair ride. The length of driver 521 and the distance between multiple transport device 52d and guide rail 51a is selected in such a way that the form fit between driver 521 and overhead transport units 53 is created or broken in the areas in which the movement component of connecting beam 522 reversed along the conveying direction, visible in sub-figures a, c and d. Thus, when the discs 523a, 523b rotate counterclockwise, the overhead transport units 53 are conveyed to the right (FIGS. 7c to 7e) and during the rest of the movement (FIGS. 7a to 7c), the drivers 521 are brought back to the starting point without that thereby the hanging transport units 53 are disturbed. 8a to 8b show an exemplary embodiment of how a multiple transport device 52d works with the walking beam conveying principle and a translational, preferably pneumatic drive 525p and spring-loaded drivers 521. Here, too, the drivers 521 are attached to the connecting beam 522. However, this is only moved back and forth in the conveying direction, preferably driven by a pneumatic cylinder 525p. In order not to promote the hanging transport units 53 back when the driver is brought back to its starting point (FIGS. 8a to 8d), the drivers 521 are rotatably mounted in the connecting beam 522 and spring-loaded. As soon as they come into contact against the conveying direction with the hanging transport units 53 (FIG. 8b) they fold in (FIG. 8c) and then fold out again when they have passed or when the connecting beam 522 is in the left end position (FIG. 8d). The rotatable mounting does not allow any movement in the opposite direction, which is why the suspended transport units 53 are reliably carried along in the conveying direction (FIGS. 8d to 8f). The spring force in the rotary joint between the driver 521 and the connecting bar 522 is selected in such a way that both reliable folding back is ensured (FIGS. 8c to 8d) and undesired conveying in the wrong direction is prevented. For this purpose, the spring force must be selected to be lower than the static friction force between the hanging transport unit 53 and the guide rail 51a.

As an alternative to the passive suspension of the drivers 521 in the connecting bar 522, they can also be actively moved transversely to the conveying direction, preferably with another pneumatic cylinder or a pair of cylinders, which preferably moves the entire connecting bar 522 transversely. It is also conceivable to generate the transverse movement via at least one link guide.

FIG. 9 shows a schematic sketch of a further embodiment of a system according to the invention as previously shown in FIGS. This embodiment is structurally and functionally comparable to and applicable to the aforementioned embodiments.

In the embodiment in Fig. 9, this cable transport system 10 consists of at least one (double) transfer gripper 11c, two (double) transfer grippers 20e, 20f, the transfer mechanisms 12, 22a, 22b belonging to the two grippers and two groups of cable transport units 30a, 30b for the transport of several cables 80a. This cable transport units 30a, 30b are designed as Wagons or trolleys, as previously described in FIG. Lc. Otherwise, this cable transport system is structurally and functionally unchanged.

The cable 80a shown in FIG. 10 comprises at least two conductors 83a, 83b at a cable end 81a, which are spaced apart from one another. As previously described in FIG. 3a, this cable 80a can be arranged in the cable holder 32a, 32b of the multiple storage devices 30a, 30b, with the two conductors 83a, 83b each being in the cable clamps 323 at a distance XI from one another according to FIG are clamped at a distance and the opposite cable end 81b is arranged in a cable support 324 .

FIG. 12 shows the transfer gripper 20e, which is arranged on the cable transport system 10. The transfer gripper 20e is a double transfer gripper and is arranged on a transfer mechanism 22a, as previously described in FIG. 1a or FIG. 1b, and is also used, for example, in the cable transport systems according to FIG. The transfer gripper 20e has two pairs of gripper jaws 221a, 221b for gripping the conductors 83a, 83b. The gripper jaw pairs 221a, 221b are arranged on a gripper transfer guide 221 and along the

Gripper transfer guide 221 movable, so that the distance X2 is adjustable to each other. There is an appropriate one for this

Gripper drive device 222 arranged on the transfer gripper 20e. On the side opposite the pairs of gripper jaws 221a, 221b, the transfer gripper 20e has a receiving clamp 223, in which the cable end 81b of the cable 80a opposite the conductors 83a, 83b is arranged. During operational use, the transfer gripper 20e is moved toward the multiple store 30a, with the distance X2 of the Gripper jaw pairs 221a, 221b corresponds to the distance XI of the cable clamps 323 and advantageously remains unchanged.

FIG. 13 shows the transfer gripper 11c, which is arranged on the cable transport system 10. FIG. The transfer gripper 11c is a double transfer gripper and is otherwise structurally and functionally the same as the transfer gripper 11a, as previously described in FIG. The transfer gripper 11c has two pairs of gripper jaws 111a, 111b for gripping the conductors 83a, 83b, which are spaced apart by a distance X3. On the side opposite the pairs of gripper jaws 111a, 111b, the transfer gripper 11c has a receptacle 112, in which the cable end 81b of the cable 80a opposite the conductors 83a, 83b is arranged. The transfer gripper 20e transfers the removed cable 80a to the transfer gripper 11c, which feeds it to at least one, preferably at least two or more cable processing stations 70a, 70b for processing. The pair of gripper jaws 221a, 221b change their distance from X2 to X3 before or during the transfer. For this purpose, in addition to the two transfer grippers 20e and transfer grippers 11c, the transfer mechanisms 12 and 22a associated with them also move, as previously shown in FIG.

As will be clear to a person skilled in the art, the embodiments and methods illustrated in the figures or described herein can also be combined and exchanged within the scope of the invention.

For example, the invention enables a wire processing system comprising a wire processing machine 90 having a Machine control for the automatic processing of cable ends of heavy, rigid, pre-cut cables 80, 80a with a frame 92, 92a, 92b with (i) an entry side 95a for receiving the cables 80, 80a, (ii) at least two frame-supported cable processing stations 70a, 70b, (iii) one

Cable transport device 10 for transporting at least one cable 80, 80a, which cable transport device 10 in the

Cable processing machine 90 has at least one frame-supported, movable gripper 11, 11a, 11b, 11c, 20a, 20b, 20c, 20e, 20f for the cable 80, 80a, and (iv) an output side 95b for the delivery of a processed cable 80, 80a, where the

Cable transport device 10 is equipped with a cable transport device 320a, 320b designed as a multiple store 30a, 30b, which has a plurality of cable holders 32, 32a, 32b, and wherein at least the at least one gripper 20a, 20d, 20e, 20f as

Transfer gripper, preferably using a frame-based one

Transfer mechanism 22a, 22d, is designed to remove one of the cables 80, 80a after the other from the respective cable holder 32, 32a, 32b and to at least one of the cable processing stations 70a, 70b and/or to a further gripper 11a, 11b, 11c , 20b, 20c, 20e, 20f, which further gripper 11, 11a, 11b, 11c, 20b, 20c, 20e, 20f is designed to be movable with a further frame-supported transfer mechanism 11, 12a, 12b, 22b, 22c in order to transfer of the cable 80, 80a in one of the cable processing stations 70a, 70b, and the multiple store 30a, 30b is designed as an autonomous or guided transporter 34.

As a further example, the invention provides a feed system for heavy, rigid cables 80, 80a to a cable processing machine 90 according to the previous example automatic processing of cable ends of the cables 80, 80a in at least one cable processing station 70a, 70b of

Cable processing machine 90, with a multiple store 30a, which is designed as an autonomous or guided transporter 34, which can be detachably docked to the cable processing machine 90 with a docking mechanism 300a between the transporter 34 and an input side 95a of the latter, the multiple store 30a having a plurality of cable holders 32a, which cable holders 32a are designed in such a way that one of the cable ends can be removed therefrom mechanically by a cable transport device 10 of the cable processing machine 90 and fed to a number of cable processing stations 70a, 70b for processing the cable ends, with the transporter 34 being designed in such a way that the multiple store 30a during cable processing as long as it still contains cables 80, 80a remains docked on the input side 95a and the cable 80, 80a can be moved from and to the cable processing stations 70a, 70b in the cable processing machine 90 separately from the multiple store 30a.

According to the invention, however, the feed system can also be used independently of the cable processing machine 90 according to the first example.

As yet another example, the invention provides a removal system for heavy, relatively rigid cables 80, 80a from a cable processing machine 90 according to the first example for automatically processing cable ends of cables 80, 80a in at least one cable processing station 70a, 70b

Cable processing machine 90, with a multiple memory 30b, which is designed as an autonomous or guided transporter 34, which with a docking mechanism 300a between the Transporter 34 and an output side 95b of the cable processing machine 90 can be detachably docked to it, with the multiple store 30b having a plurality of cable holders 32b, which cable holders 32b are designed in such a way that one of the cable ends can be mechanically placed in them by a cable transport device 10 of the cable processing machine 90 and processed of the cable ends can be removed from at least one of the cable processing stations 70a, 70b, with the transporter 34 being designed in such a way that the multiple store 30b remains docked on the output side 95b during cable processing as long as there is still space for at least one cable 80, 80a and that Cables 80, 80a can be moved separately from the multiple store of the cable transport unit 30b to and from the cable processing stations 70a, 70b in the cable processing machine 90. According to the invention, the removal system can also be used independently of the cable processing machine 90 according to the first example.

Reference List

3A-B, 4A-D Arrow (pair) for line of sight/cut definition

10 cable transport device ll,lla-b transfer-(gripper) 11c transfer-(gripper) purple, 111b pair of gripper jaws 112 recording

12, 12a-b transfer mechanism (multiple drive axles)

20a-c transfer (gripper)

20d handover and transfer gripper

20e, 20f transfer (gripper)

211a, 211b pair of gripper jaws

221 gripper transfer guide

222 gripper drive device

223 pickup clamp

22a-d transfer mechanism (multiple drive axles)

30a-b multiple storage (cable transport unit, trolley, trolley, multiple transporter) 30c multiple storage with guide rail for hanging transport units

30e extra carriage, (cable) (multiple) hanging transport unit

300a-b docking mechanism

301 leadership (male, profile)

302 locking element (locking pin)

303 lead (counterpart, female)

304 locking device 3040 locking drive (cylinder)

3041 sliding plate

3042 sensors

305 damper 310a-b clutch

311 drive (for conveyor)

3111a-b (chain) drive (srad) 3112a-b counter surface 312a-b coupling half (gear, drive side) 313a-b coupling half (gear, conveyor belt side)

314 Passive Power Element (Spring)

315 intermediate wheel holder

32a-d cable holder (clamp, pad, divider)

320a-b (cable) conveyor device (conveyor belt, walking beam) 3201 plate (guide element)

3202a-b sheet metal (guide element)

3203, 3204 straps

3205a-c chain (with easily separable segments)

3206 chain segment 321a insertion area

321b removal area

322 (cable level) sensor (camera)

322, 322a-b (chain segment) sensor (camera)

323 (cable) clamp 3231 (holder) receptacle

3232a-b (jaw) holder

3233a-b jaw 324 (cable) overlay

327 wave

328 leadership

329a-b (chain storage) collection device (box, roller) 33 moving element (wheel) 34 transporter (cart)

34a-b transport trolley

341 mechanical interface

35 control, (partial) autonomous driving system 351 (control) cable

352 drive (for proper motion)

353 sensor (camera)

354 energy supply (battery, rechargeable battery)

40a-b Intermediate buffer storage (additional cable holder) 400a Automatic loading device

400b Automatic unloading device 4020 transfer (gripper) 4022 transfer mechanism (robot) 4091 housing (casing) 4093 control

4099 sensor (camera) 430a-b loading or unloading trolley (transporter, trolley, trolley) 432 cable holder (clamp, support, divider)

50 Flange transport device (winding transport device) (coil handling)

51a-c guide, guide rail, rail 52a-c transport device (for 53)

52d multiple transport device (walking beam, conveyor)

521 driver 522 connecting beam (beam)

523a-b pulley 524 toothed belt 525e (rotary) drive (electric) 525p (translational) drive (pneumatic

53 Suspended transport unit (sled, transport trolley) 531 Sled (transport trolley)

54 (rotatable) storage

55 hanging attachment (hook) 60a (magazine) loading device 60b (magazine) unloading device 61a-f (loading/unloading) magazine 62a (actuable) underside 63a-b actuating device 64a-b magazine transport device 65 (missing parts/bad parts) magazine (reject box)

70a-b cable processing station

80 cables

80a cable

80f (faulty) cable (bad part, missing part) 80cl, 81c2 cable remnant (incomplete cable wrap)

81 cable end

81a, 81b cable end 82 cable end section

83a, 83b conductors

90 cable processing machine

91 enclosure (cladding) 92, 92a-b frame (frame, module)

93 control

95a input side

95b output side

XI Distance from 83a to 83b to 32a

X2 distance from 83a to 83b to 20e

X3 distance from 83a to 83b on 11c

Claims

patent claims

1. Cable processing system comprising a cable processing machine (90) with a machine control for the automatic processing of cable ends of heavy, rigid, pre-cut cables (80, 80a) with a frame (92, 92a, 92b).

- an entry side (95a) for receiving the cables (80,

80a),

- At least two frame-based cable processing stations (70a, 70b),

- a cable transport device (10) for transporting at least one cable (80, 80a), which cable transport device (10) in the cable processing machine (90) has at least one frame-supported, movable gripper (11, 11a, 11b, 11c, 20a, 20b, 20c, 20e , 20f) for the cable (80, 80a), and

- an exit side (95b) for delivering a processed cable (80, 80a), the cable transport device (10) being equipped with a cable transport device (320a, 320b) designed as a multiple store (30a, 30b) which has a plurality of cable holders (32, 32a , 32b), and wherein at least the at least one gripper (20a, 20d, 20e, 20f) is designed as a transfer gripper, preferably using a frame-supported transfer mechanism (22a, 22d), to transfer one of the cables (80, 80a) after the other removed from the respective cable holder (32, 32a, 32b) and fed to at least one of the cable processing stations (70a, 70b) and/or to a further gripper (11a, 11b, 11c, 20b, 20c, 20e, 20f), which further Grippers (11a, 11b, 11c, 20b, 20c, 20e, 20f) is designed to be movable with a further frame-supported transfer mechanism (11, 12a, 12b, 22b, 22c) in order to transfer the cable (80, 80a) to one of the cable processing stations (70a, 70b), characterized in that the multiple store (30a, 30b) is designed as an autonomous or guided transporter (34).

2. Cable processing system according to claim 1, characterized in that the cable conveyor device (320a, 320b) is designed as a conveyor belt on which the cable holders (32a) are attached, preferably with at least two cable holders (32a) spaced apart from one another along the cable (80). for at least one of the cable ends of the cable (80). 3. Cable processing system according to one of the preceding claims, characterized in that the cable conveyor device (320a, 320b) by means of a docking mechanism (300a) on the input side (95a) and/or the output side (95b) of the cable processing machine (90) in a defined

Position relation can be docked, wherein the cable conveyor device (320a, 320b) is designed to be mobile relative to the cable processing machine (90).

4. Cable processing system according to one of the preceding claims, characterized in that the docking mechanism (300a, 300b) has a mechanical guide (301, 303) for docking the positioned Having multiple storage (30a, 30b) to the cable processing machine (90).

5. Cable processing system according to any one of the preceding claims, characterized in that the transporter (34) independently of the

Cable processing machine (90) is movable and is designed in particular as a carriage, trolley or gondola.

6. Cable processing system according to one of the preceding claims, characterized in that the transporter (34) with a travel drive device for

Movement of the transporter (34) is designed and is equipped in particular as an autonomous or guided vehicle with its own controller (35) for autonomous navigation, the driving controller (35) of the transporter (34) for

Communication with the machine control and / or with a higher-level control system is designed, or that the transporter (34) is designed to be coupled and moved with an autonomous transport system of a factory. 7. Cable processing system according to one of the preceding claims, characterized in that the multiple store (30a, 30b) and the cable processing machine (90) - in particular in the area of the docking mechanism (300a, 300b) - have a detachable coupling (310a, 310b), which is designed in such a way to promote the cable (80, 80a) in the multiple store (30a, 30b) when docking a drive (311) of To bring cable processing machine (90) with the cable conveyor device (320a, 320b) in a mechanical operative connection.

8. Cable processing system according to the preceding claim, characterized in that the mechanical operative connection takes place by means of gears (312a, 312b, 313a, 313b) which interact in the coupled state, one of these gears (312b) preferably being rotatably mounted in an intermediate wheel holder (315). and this intermediate wheel holder (315) is preferably itself rotatably mounted about another gear (312a) and this rotatable mounting is pretensioned with a passive force element (314), and/or wherein all gears (312a, 312b, 313a, 313b) are preferably rotatable a formwork is separated from the environment, which has an opening which is closed by a flap during transport of the multiple store (30a, 30b), this flap preferably having a mechanism which folds it away when docking around the gear wheel ( 313a, 313b) to release.

9. Cable processing system according to one of the preceding claims, characterized in that the cable conveying device (320a, 320b) has a local drive for conveying the cables (80, 80a) in the multiple store (30a, 30b) and with a - preferably local - controller (35 ) is connected, which interacts with the machine control in the operating state.

10. Cable processing system according to one of the preceding claims, characterized in that when docked, the multiple store (30a, 30b) has a removal area (321b) and/or an insertion area (321a) for the cables (80, 80a), which areas (321a, 321b) are protected by a housing (91) of the cable processing machine (90 ) are separated from one another and in particular from the at least one gripper (11a, 11b, 11c, 20b, 20c, 20e, 20f), and are preferably accessible from outside the housing (91) and can in particular be operated manually.

11. Cable processing system according to one of the preceding claims, characterized in that the areas (321a, 321b) outside the housing (91) can be loaded or unloaded continuously or cyclically with the cables (80, 80a) during operation, in particular the multiple storage (30a, 30b) is continuously docked to the cable processing machine (90) at least while it is in operation.

12. Cable processing system according to one of the preceding claims, characterized in that the multiple memory (30a, 30b) is housed in the docked state substantially completely within a housing (91) of the cable processing machine (90).

13. Cable processing system according to one of the preceding claims, characterized in that each cable holder (32a, 32b) has at least one web or a driver and/or is designed as a support (324) and/or as a clamp (323), with preferably one clamp (323) and one support (324) each in parallel on one or two synchronous belts (3203, 3204) or chains (3205) and the clamps (323) have elastic elements whose pretension is adjustable and are fixed in housings (3231) which are guided by guides (3201, 3202a, 3202b) along the conveying direction of the belts (3203, 3204) or chains (3205) are guided.

14. Cable processing system according to one of the preceding claims, characterized in that at least one magazine (61a, 61b, 61c) for receiving a plurality of cables (80,

80a), preferably in separate sections, which is designed with an actuatable underside (62a) in such a way that, with the aid of an actuating device (63a), cables (80, 80a) located in the magazine (61a, 61b, 61c) can be pushed down into the cable conveyor device (320a, 320b) and/or another magazine (61a, 61b, 61c) can be released, the magazine (61a, 61b, 61c) or a group of several magazines (61a, 61b, 61c) preferably being transported with the aid of a magazine transport device (64a, 64b) is moved and/or can be fixed to the cable processing machine (90) preferably with the aid of a docking mechanism (similar to 300a, 300b).

15. Cable processing system according to one of the preceding claims, characterized in that at least one magazine (61d, öle, 61f) for receiving processed cables (80, 80a) with an actuatable underside (62a) is arranged on the output side (95b), which Underside (62a) is designed in such a way that with the aid of an actuating device (63a) in the magazine (61d, oils, 61f) located cable (80, 80a) can be released downwards, in particular the magazine (61d, öle, 61f) is designed with the actuatable underside (62a) such that using an actuating device (63a) in the magazine (61a, 61b, 61c) Located cable (80, 80a) down into the

Cable conveying device (320a, 320b) and/or another magazine (61a, 61b, 61c) can be released, the magazine (61d, ole, 61f) or a group of several magazines (61d, ole, 61f) preferably being transported with the aid of a magazine transport device ( 64a, 64b) can be moved and/or preferably fixed to the cable processing machine (90) with the aid of a docking mechanism.

16. Cable processing system according to one of the preceding claims, characterized in that the cable transport device (10) is designed on the output side (95b) with a further cable transport device (320b) designed as a multiple store (30b), which has a number of further cable holders (32a, 32b) and which can be docked in a defined positional relationship on the output side (95b) by means of a docking mechanism (300a, 300b), the further multiple store (30b) being designed as an autonomous or guided transporter (34), and that a second movable gripper ( 20b) is designed to remove one of the cables (80, 80a) after the other from one of the cable processing stations (70a, 70b) and to feed it to the respective further cable holder (32a, 32b).

17. Cable processing system according to one of the preceding claims, characterized in that on the output side (95b) at least one missing parts magazine (65) is arranged, which is provided in order to store cables (80f) recognized by the cable processing machine (90) as missing parts (80f) and preferably marked as "defective", with the missing parts magazine (65) preferably being positioned above or next to a multiple store ( 30a, 30b) at the

Output side (95b) is arranged so that it can be operated by the movable gripper (11a, 11b, 20a, 20b), the missing parts magazine (65) being designed in particular as a further transporter. 18. Cable processing system according to one of the preceding claims, characterized in that the cable conveying device (320a, 320b) is designed with at least one chain (3205a, 3205b) as a multiple store, the chain segments (3206) of which can be separated and in each case at least one of the cable holders (32a) exhibit.

19. Cable processing system according to the preceding claim, characterized in that the chain (3205a, 3205b) is present as a slack, in particular not closed, chain and can be moved by a drive unit which is used to promote such a slack

chain is formed.

20. Cable processing system according to one of the preceding claims, characterized in that it comprises at least one external gripper (4020) in the area of the cable conveying device (320a, 320b), preferably outside the housing (91), which is arranged and designed in such a way that it Removal area (321b) and / or the insertion area (321a) served, in particular one Transfer of a cable (80, 80a) from or to an external, ceiling or floor-bound loading or unloading carriage (430a, 430b) outside the cable processing machine (90).

21. Cable processing system according to one of the preceding claims, characterized in that the cable processing machine (90) and/or the cable transport device (10) is equipped with at least one sensor (322), preferably a camera for image recognition and/or a counting device, which is designed in this way is information about the number and/or position of the cables (80, 80a) in a multiple store (30a, 30b) and/or in a cable conveyor device (320a, 320b) and/or in a magazine (61a, 61b, 61c, 61d, oils, 61f, 65).

22. Cable processing system according to one of the preceding claims, characterized in that the cable processing machine (90) on the input side (95a) and/or on the output side (95b) between the multiple store (30a, 30b) and a cable processing station (70a, 70b). Has an intermediate buffer store (40a, 40b) for cables (80, 80a), which is designed to store at least one of the cables (80, 80a) in the cable processing machine (90) and has at least one cable holder (32a, 32b) and is equipped with a gripper (20a , 20b, 20c, 20e, 20f) can be operated, this intermediate buffer memory (40a, 40b) being designed in particular in such a way that the cables (80, 80a) for a defined time window during docking and undocking of a multiple memory (30a, 30b). /from the cable processing station (70a, 70b) and/or a further gripper (11a, 11b, 20a, 20b, 20c) and/or the multiple store (30b) on the output side.

23. Cable processing system according to one of the preceding claims, characterized in that an overhead transport device (50) is additionally provided for the transport of cable coils (80c), in which each cable coil (80c) can be moved in a respective overhead transport unit (53) provided for this purpose, preferably synchronously with the movement of the cable ends using one of the grippers

(11a, 11b, 20a, 20b, 20c).

24. A method for the automatic processing of cable ends heavy, rigid cable (80, 80a), with a

- Taking up several of the cables (80, 80a) in several cable holders (32a, 32b) as one

Cable conveyor device (320a) designed multiple storage (30a), which is designed as an autonomous or guided transporter (34),

- Mechanical removal of at least one cable (80, 80a) or a cable end of one of the cables (80, 80a) from the

Multiple storage (30a) by means of a transfer and transfer gripper (20d, 20e, 20f) of the cable processing machine (90),

- Feeding the cable (80, 80a) or cable end to at least a first cable processing station (70a) by the transfer and transfer gripper (20d, 20e, 20f),

- Processing of the cable (80, 80a) or cable end in the first cable processing station (70a),

- Transferring the cable (80, 80a) or cable end from the first cable processing station (70a) to at least a second one cable processing station (70b) by the transfer and transfer gripper (20d, 20e, 20f),

- processing the cable (80, 80a) or cable end in the second cable processing station (70b), - removing the processed cable (80, 80a) or cable end from the second cable processing station (70b) by the handover and transfer gripper (20d, 20e , 20f), with a single gripper optionally being designed as a transfer gripper (20d, 20e, 20f). Method according to the preceding method claim, characterized in that the mechanical removal with a first gripper as a transfer gripper (20a, 20e) of the cable processing machine (90) starts with a transfer of the cable (80, 80a) or cable end from the first transfer gripper (20a , 20e) to a first transfer gripper (11), and the cable (80, 80a) or cable end is fed to the first cable processing station (70a) by the first transfer gripper (11), and after processing the cable, the The cable (80, 80a) or cable end is transferred from the first cable processing station (70a) into the at least one second cable processing station (70b) by a second transfer gripper (11), and the processed cable (80, 80a) or cable end is removed from the second cable processing station (70b) by a third transfer gripper (11) with a transfer of the cable (80, 80a) or cable end from the latter transfer gripper (11) to a second n transfer Grippers (20b. 20f) takes place, with each of the grippers (11, 20a,

20b, 20e, 20f) with the aid of at least one transfer drive (12, 22a) associated therewith.

26. Method according to one of the preceding method claims, characterized in that the multiple store (30a) is moved outside the cable processing machine (90) and the multiple store (30a) is docked on an input side (95a) of a cable processing machine (90).

27. The method according to any one of the preceding method claims, characterized in that the mechanical removal of at least one cable (80, 80a) or cable end from the multiple store (30a) with a first transfer gripper (20a, 20e) of

Cable processing machine (90) takes place that a transfer of the cable (80, 80a) or cable end from the first

transfer gripper (20a, 20e) to one of the transfer grippers (11), the cable (80, 80a) or cable end is fed to at least a first cable processing station (70a) by the transfer gripper (11), and that the transfer of the cable (80 , 80a) or cable end from the first cable processing station (70a) into at least one second cable processing station (70b) by the transfer gripper (11), that the processed cable (80, 80a) or cable end is removed from the second cable processing station (70b) by the Transfer gripper (11) takes place, and that the transfer of the cable (80, 80a) or cable end from last-mentioned transfer gripper (11) to a second transfer gripper (20b, 20f).

28. The method according to any one of the preceding method claims, characterized in that several transfer grippers (11a, 11b) are provided and for

Transfer of the cable (80, 80a) or cable end between these several transfer grippers (11a, 11b) at least one further transfer gripper (20c) is arranged.

29. Method according to one of the preceding method claims, characterized in that the cable conveyor device (320a, 320b) is moved by driving the cable conveyor device (320a, 320b) by means of a power transmission from the cable processing machine (90) to the multiple store (30a, 30b), especially with a mechanical coupling during docking.

30. The method according to any one of the preceding method claims, characterized in that the cable conveyor device (320a, 320b) is moved by driving the cable conveyor device (320a, 320b) by means of a local drive on the multiple store (30a, 30b).

31. Method according to one of the preceding method claims, characterized in that the cables (80, 80a) are clamped or inserted into the cable holder (32a, 32b) manually and outside the housing (91). 32. The method according to any one of the preceding method claims, characterized in that at least one hanging transport unit (53) for a

Cable winding (80c) of a respective cable (80, 80a) takes place.

33. The method according to any one of the preceding method claims, characterized in that a floor or ceiling-bound spatial movement of the multiple store (30a, 30b) takes place in a factory environment by means of autonomously controlled transporters (34), which transporters (34) for docking and undocking the cable processing machine (90) are formed.

34. The method according to any one of the preceding method claims, characterized in that the cables (80, 80a) are fed to the cable conveyor device (320a) with at least one magazine (61a, 61b, 61c) for the cables (80, 80a), the cables (80, 80a) by releasing an underside (62a) of the magazine (61a, 61b, 61c) by an actuator

(63a) in the area of the magazines (61a, 61b, 61c) by gravity to the cable conveyor device (320a) and/or passed on to the magazine (61a, 61b, 61c) underneath. 35. Method according to one of the preceding method claims, characterized in that the processed cables (80, 80a) are removed with at least one magazine (61d, öle, 61f) for the cables (80, 80a), whereby the cables (80, 80a) by releasing an underside of the magazine (61d, öle, 61f) by an actuating device (63b) in the area of the magazines (61d, öle, 61f) by gravity to the underlying magazine (61d, öle, 61f ) are passed on.

36. The method according to any one of the preceding method claims, characterized in that the cables (80, 80a) are provided and/or removed by actuating an actuatable underside (62a), through which the cables (80, 80a) fall from a

Section of the magazine (61a, 61b, 61c, 61d, oils, 61f) in the underlying cable holder (32a, 32b) or in another section of the magazine (61a, 61b, 61c, 61d, oils, 61f) underneath, which magazine (61a, 61b, 61c, 61d, oils, 61f) is preferably associated with the multiple store (30a, 30b) or the cable conveyor device (320a, 320b).

37. The method according to any one of the preceding method claims, characterized in that a mechanical filing of the cable (80, 80a) or the cable end in a cable holder (32a, 32b) of a second

Multiple store (30b), which is designed as an autonomous or guided transporter (34), on an output side (95b) of the cable processing machine (90) by a transfer or transfer gripper (11a, 11b, 11c, 20a, 20b, 20c, 20e, 20f), preferably in combination with a

Docking this second multiple store (30b) on the output side (95b) of the cable processing machine (90). 38. Method according to one of the preceding method claims, characterized in that missing parts (80f) are automatically detected in the cable processing machine (90) and these missing parts (80f) are stored in a separate missing parts magazine (65), in particular on the output side (95b ) of the cable processing machine (90), preferably with an automatic marking of the missing parts (80f).

39. The method according to any one of the preceding method claims, characterized in that the cables (80, 80a) and/or the cable ends of cables wound up to form cable coils (80c) are fed in and/or removed with a cable conveyor device (320a, 320b) with at least an open chain (3205a, 3205b) takes place as a multiple memory, the chain links or chain segments (3206) the

Have cable holders (32a), with separating and/or connecting chain links or chain segments (3206) at a beginning or at an end of the chain (3205a, 3205b), which chain segments (3206) contain unprocessed or processed cables (80, 80a). or are empty.

40. The method according to any one of the preceding method claims, characterized by supplying and / or removing the cable (80, 80a) with at least one external gripper (4020) outside the housing (91), which external gripper (4020) transferring a

Cable (80, 80a) between an external ceiling or floor loading or unloading carriage (430a, 430b) outside the cable processing machine (90) and one outside the housing (91). Removal area (321b) and / or insertion area (321a) of the multiple memory (320a, 320b) performs.

41. Method according to one of the preceding method claims, characterized by intermediate buffering of at least one or more of the cables (80, 80a) in an intermediate buffer store (40a, 40b) within the cable processing machine (90) by the transfer and/or transfer gripper (20d , 20e, 20f).

42. Feeding system for heavy, rigid cables (80, 80a) to a cable processing machine (90) according to claim 1 for the automatic processing of cable ends of the cables (80, 80a) in at least one cable processing station (70a, 70b) of the cable processing machine (90). by a multiple store (30a), which is designed as an autonomous or guided transporter (34), which can be detachably docked to the cable processing machine (90) with a docking mechanism (300a) between the transporter (34) and an input side (95a) of the latter, wherein the multiple store (30a) has a plurality of cable holders (32a), which cable holders (32a) are designed in such a way that one of the cable ends can be removed therefrom mechanically by a cable transport device (10) of the cable processing machine (90) and can be used for processing the cable ends in several cable processing stations (70a, 70b) can be supplied, the transporter (34) being designed in such a way that the multiple spoke he (30a) during cable processing as long as he still contains cables (80, 80a) on the input side (95a) remains docked and the cable (80, 80a) can be moved separately from the multiple store (30a) from and to the cable processing stations (70a, 70b) in the cable processing machine (90). 43. Discharge system for heavy, relatively rigid cables (80, 80a) from a cable processing machine (90) according to claim 1 for the automatic processing of cable ends of the cables (80, 80a) in at least one cable processing station (70a, 70b) of the cable processing machine (90), characterized by a multiple store (30b), which is designed as an autonomous or guided transporter (34), which can be detachably docked to the cable processing machine (90) with a docking mechanism (300a) between the transporter (34) and an output side (95b) of the latter , wherein the multiple store (30b) has a plurality of cable holders (32b), which cable holders (32b) are designed in such a way that one of the cable ends is machined into them by a cable transport device (10) of the cable processing machine

(90) and can be removed from a processing of the cable ends of at least one of the cable processing stations (70a, 70b), wherein the transporter (34) is designed in such a way that the multiple store (30b) during the cable processing as long as there is still space for at least one Cable (80, 80a) has remained docked at the output side (95b) and the cable (80, 80a) can be moved separately from the multiple store (30b) to and from the cable processing stations (70a, 70b) in the cable processing machine (90).

44. Cable processing system with a cable processing machine (90) according to claim 1 and with a feed system and/or a discharge system according to the two preceding claims.